System for temporarily holding an automatically driven open-close structure

ABSTRACT

A temporarily holding device for temporarily holding an opening/closing body such as a sliding door for a vehicle in such a manner as to allow it to be moved from a halted state with a required operating force, comprising, in order not to fluctuate the moving resistance remarkably in any condition by providing the moving resistance of a required limit in the form of electrical control while the opening/closing body is being halted, an opening/closing body movably supported on a guiding mechanism, a motor-driven clutch for freely connecting and/or disconnecting the guide mechanism to and/or from an opening/closing body holding mechanism and a clutch driving element for regulating the transmission maintaining force of the motor-driven clutch, wherein the clutch driving element is designed to set the transmission maintaining force of the motor-driven clutch when the opening/closing body is halted with a required opening smaller than when it is in motion.

This application is the national stage of PCT/JP96/03110, filed Oct. 24,1996.

TECHNICAL FIELD

This invention relates to a temporary holding device for an automaticdriven open-close structure for temporary holding the open-closestructure, such as entrance doors or vehicular slide doors, in itsstopped condition, adapted to be able to move by a predeterminedoperation force.

BACKGROUND

Open-close structure, such as slide doors installed on moving body ofthe vehicle and the likes have respectively a check mechanism at afull-open position of the door in order to hold the full-open doorcondition in any situation of the vehicle stop posture.

The check mechanism employs in general a mechanical motion limiter, suchas an elastic chain mechanism in such manner that the door doesn't startto move without an operation force higher than a predetermined level.

Also, according to the apparatus adapted to automatically drive theopen-close structure by means of a motor and the like, this apparatuscontrols the clutch mechanism installed between a motor drive portionand the open-close structure to restrict a door motion along its closedirection so as to prevent the clutch mechanism from being released atits door full-open position.

However, concerning a setting of the limit of the operational force inthe mechanical check mechanism, it is necessary to firmly keep the doorat its full-open condition in every situation of the door even thoughthe door is apt to close, considering a posture of the vehicle and aweight of the door.

In case that this mechanical check mechanism is set under such limit ofthe operational force, under a situation in which the door is verydifficult to close, a very large operational force is necessary to closethe door. A very large operational force is used while the door isstarting to close, even though the vehicle is parked on a level groundof normal condition. Such operational force becomes very large when thedoor is going to start moving from its stop condition and then movementresistence of the door suddenly decreases just after the door startmoving, resulting in high speed of the moving door along its closedirection. It is not good in point of the safety of the door and of themechanism protection.

Furthermore, according to one of automatic open-close devices adapted todrive the door by an electric motor, the drive of the door by manualoperation is detected and it is used as a chance of driving electricallythe door. In such automatic open-close device, a wide change range ofthe operational force which is necessary to start driving the door isnot preferable.

According to the automatic open-close device adapted to have a chance ofelectric driving start for starting a door motion, if the electricclutch is not released when the door fully opens, motion start of thedoor along its close direction becomes completely impossible. It is alsonot preferable.

This invention is invented to solve such problem of the above-mentionedconventional device of this kind and the purpose of this invention is toprovide a temporary holding device for an automatic driven open-closestructure adapted to prevent a moving resistance of the open-closesturcture from changing in a wide range under any situations by applyinga moving resistance of a predetermined limit when the open-closesturcture stops, which is electrically controlled.

DISCLOSURE OF THE INVENTION

In order to attain the purpose of this invention, the temporary holdingdevice for an automatic driven open-close structure comprises anopen-close structure movably supported on a guide mechanism, an electricclutch for intermittently connecting the guide mechanism with anopen-close holding mechanism, and a clutch drive means for adjusting atransfer keeping force of the electric clutch, wherein the clutch drivemeans sets a transfer keeping force of the electric clutch, when theopen-close structure opens at a predetermined open degree and stops, ata level smaller than another transfer keeping force obtained when theopen-close structure moves.

Also, a temporary holding device of an automatic driven open-closestructure of this invention comprises an open-close structure movablysupported on a guide mechanism, an electric clutch intermittentlyconnecting the guide mechanism with an open-close holding mechanism, anopen-close structure movement detection means for detecting a movementof the open-close structure, and a clutch drive means for adjusting atransfer keeping force of the electric clutch, wherein the clutch drivemeans gradually decreases a transfer keeping force of the electricclutch when the open-close structure opens at a predetermined opendegree and stops, and gradually increases a transfer keeping force so asto stop a sliding movement of the open-close structure when theopen-close structure movement detection means detects a sliding movementof the open-close structure, and adjusts a transfer keeping force of theelectric clutch to another transfer keeping force of a level a littlelarger than that attained when the open-close structure stops bygradually increasing the the transfer keeping force.

Furthermore, a temporary holding device for an automatic drivenopen-close structure of this invention comprises an open-close structuremovably supported on a guide mechanism, an electric clutchintermittently connecting the guide mechanism with an open-close holdingmechanism, an open-close structure movement detection means fordetecting a movement of the open-close structure, and a clutch drivemeans for adjusting a transfer keeping force of the electric clutch,wherein the clutch drive means gradually decreases a transfer keepingforce of the electric clutch when the open-close structure opens at apredetermined open degree and stops, and gradually decreases, when theopen-close structure movement detection means detects the slidingmovement of the open-close structure, the transfer keeping force to itslevel attained when a sliding movement is again detected after thetransfer keeping force is once increased, and adjusts a transfer keepingforce of the electric clutch to its level similar to or a little largerthan the transfer keeping force attained when the last or the most newsliding motion is detected by the open-close structure movementdetection means, when the open-close structure movement detection meansdoesn't detect any sliding movement of the: open-close structure.

Still more, in the temporary holding device of the automatic drivenopen-close structure of this invention, the open-close holding mechanismconsists of an open-close structure drive means for driving theopen-close structure along its open-close direction.

Accordingly, this invention is able to keep a holding force of theopen-close structure at a fixed degree in any situation, so it ispossible to stabilize a start motion of the open-close structure safely.Also, because it is possible to set the holding force of the minimumrequirement, it is possible to decrease a consuming electricity for theclutch and to miniatuarize the open-close motor. Further, because it ispossible to use a holding force of the minimum requirement and set achanging width range of the holding force on a smll level, it ispossible to carry out safely and stably an automatic open-close controlwith a chance of start of moving the open-close structure.

Furthermore, mechanical holding mechanism, such as levers and springsfor holding the open-close structure is not necessary in this invention,so that it is possible to considerably reduce the number of parts andexceedingly decrease the cost of a control system for the open-closestructure. Also, comparing to the conventional mechanical holdingmechanism, few exclusive parts are used, so that the construction ofinstalling the open-close structure is simplified and a space forsupporting members of the structure is made narrow.

BRIEF EXPLANATION OF THE DRAWINGS

FIG. 1 is an outline perspective view showing one example of automobilesto which this invention is applied.

FIG. 2 is an enlarged perspective view of the vehicle body when itsslide door is removed.

FIG. 3 is a perspective view of the slide door.

FIG. 4 is a perspective view showing the installation portion of theslide door seeing from inside of the vehicle.

FIG. 5 is a perspective view showing the important portion of the slidedoor drive apparatus.

FIG. 6 is an outline plan view showing the situation of moving the slidedoor.

FIG. 7 is a block diagram showing the connection relation of the slidedoor automatic control apparatus according to this invention andspherical electrical elements.

FIG. 8 is a block diagram depicting the important portion of the slidedoor automatic control apparatus.

FIG. 9 is a flow chart of the main routine showing the operation of theautomatic slide door control apparatus.

FIG. 10 is an outline view of the mode judgement routine shown in FIG.9.

FIG. 11 is a time chart concerning the door movement speed count carriedout according to the pulse interruption routine.

FIG. 12 is a time chart of sampling points of the position count pulsesampled according to resolution in respective areas.

FIG. 13 is a plan view of lower track showing the area according to theresolution between the door open-close position and the position countvalue and to the open degree of the door.

FIG. 14 is a flow chart showing in detail the pulse interruptionroutine.

FIG. 15 is a flow chart showing in detail the pulse count timer routine.

FIG. 16 is a memory table showing the control data and the likenecessary in every area.

FIG. 17 is a flow chart showing in detail the automatic slide modejudgement routine.

FIG. 18 is a flow chart showing in detail the manual judgement routine.

FIG. 19 is a flow chart showing in detail the automatic open operationroutine.

FIG. 20 is a flow chart depicting in detail the automatic closeoperation routine.

FIG. 21 is a flow chart depicting in detail the manual close operationroutine.

FIG. 22 is a flow chart showing in detail the reverse open operationroutine.

FIG. 23 is a flow chart showing in detail the reverse close operationroutine.

FIG. 24 is a flow chart showing in detail the target positioncalculation routine.

FIG. 25 is a flow chart showing in detail the door full-open controlroutine.

FIG. 26 is a flow chart showing in detail the start mode routine.

FIG. 27 is a flow chart showing in detail the manual normal start moderoutine.

FIG. 28 is a flow chart showing in detail the manual full-close startmode routine.

FIG. 29 is an outline view of the speed control routine.

FIG. 30 is a block diagram showing functions concerning the speedcontrol.

FIG. 31 is a graph showing a relation between the voltage change and theduty cycle when the current flowing through a motor is fixed.

FIG. 32 is a flow chart showing in detail the PWM control routine.

FIG. 33 is a flow chart showing in detail the feedback adjustmentroutine.

FIG. 34 is an outline view of the pinch judgement routine.

FIG. 35 is a flow chart showing in detail the pinch judgement routine.

FIG. 36 is a block diagram showing functions concerning the pinchjudgement.

FIG. 37 is a graph showing the current values of marked samplingregions.

FIG. 38 is a block diagram of the memory study data processor.

FIG. 39 is a block diagram of the forecast comparison value processor.

FIG. 40 is a flow chart showing in detail the study judgement routine.

FIG. 41 is a flow chart showing in detail the error judgement routine.

FIG. 42 is a flow chart showing in detail the study weighting routine.

FIG. 43 is a flow chart depicting in detail the continuation & changevolume routine.

FIG. 44 is a flow chart depicting in detail the total judgement routine.

FIG. 45 is a flow chart showing in detail the slope judgement routine.

FIG. 46 is a flow chart showing in detail the level ground value datainput routine.

FIG. 47 is a flow chart showing in detail the slope inspection routine.

FIG. 48 is a time chart showing an embodiment of the door check controlcarried out when the vehicle is parked on a downward slope.

FIG. 49 is a time chart showing another embodiment of the door checkcontrol carried out when the vehicle is parked on a downward slope.

BEST MODE OF THIS INVENTION FOR EMBODING IT

The best embodiment of this invention will be described in detail withreference to the drawings enclosed.

FIG. 1 is an outline perspective view showing an example of theautomobile to which the vehicular slide door automatic open-closecontrol device according to this invention is applied. A slide door 2 isas shown installed at a side of the vehicle body 1 so as to slide alonga front-back direction of the vehicle, enabling to open and close theslide door 2. FIG. 2 is an enlarged perspective view showing the vehiclebody 1 in which the slide door 2 (shown by chained line) removed andFIG. 3 is a perspective view showing only the slide door 2.

As shown in the drawings of FIGS. 1, 2 and 3, the slide door 2 engageswith an upper truck 4 mounted on an upper edge of a door opening portion3 of the vehicle body 1 and a lower track 5 mounted on a lower edge ofthe door opening portion 3 through a slide connector 6 fixed to upperand lower ends of the slide door 2 so as to slide the slide door 2 alongthe front-back direction of the vehicle.

Also, the slide door 2 slidably engages with and is guided by a guidetrack 7 fixed in the proximity of a waist rear portion of the vehiclebody 1. The slide door 2 can move reawardly from its full-closeposition, at which the door opening portion 3 is sealed and shut-downwith an exterior side panel of the vehicle body 1 with the face of theslide door 2 protruding a little from the outer panel of the vehiclebody 1, to its full-open position.

In addition, a door lock 8 mounted on a front side of the slide door 2is adapted to engage with a sriker fixed on the vehicle body 1 when theslide door 2 is at its full-close position, so the slide door 2 isfirmly held in its full-close situation or condition. A door lever 37for manually opening and closing the slide door 2 is installed on anouter side of the slide door 2. The door lock 8 may be installed on aback side of the slide door 2.

A slide door drive apparatus 10 is installed at back of the door openingportion 3 of the vehicle body 1 between the outer panel and the innerpanel of the vehicle body 1 as shown in FIG. 4. The slide door driveapparatus 10 moves a cable member 12 installed in the guide track 7 bymeans of driving the motor and resultantly moves the slide door 2connected to the cable member 12.

According to the embodiment of the invention, the indication for openingand closing the slide door 2 is carried out by an open-close switch (notshown) installed in the interior of the vehicle 1 and also by a wirelessremote controller 30 from the outside of the vehicle (see FIG. 1). Thesestructures for carrying out such indication will be described in detail.

FIG. 5 is a perspective view showing an important portions of the slidedoor drive apparatus 10. As shown the slide door drive apparatus 10 hasa motor drive portion 11 including a base plate 13 fixed on the interiorside of the vehicle body 1 by means of bolts and the like. The baseplate 13 has a reversible open-close drive motor 14 for the slide door2, a drive pulley 15 on which the cable member 12 winds, and a speedreduction portion 17 provided with an electro-magnetic clutch 16therein, respectively being fixed thereto.

The drive pulley 15 has a speed reduction mechanism for decreasing arotation number (RPM) of the open-close drive motor 14 and increasing anoutput torque and then transferring the rotation transfer force to thethe cable member 12. The electromagnetic clutch 16 is adapted to besuitably and independently energized when the open-close drive motor 14drives, so that the electro-magnetic clutch 16 mechanically connect theopen-close drive motor 14 to the drive pulley 15.

The cable member 12 wound on the drive pulley 15 runs around a pair ofthe guide pulleys 19,19 situated on rear of the guide track 7, upperopening portion 7 a and lower opening portion 7 b of the guide track 7open outwardly in a sectional shape of box without a side, and areversing pulley 20 provided at front end of the guide track 7.Consequently, an endless cable is obtained.

A movable member 21 is fixed on a suitable portion of the cable member12 which runs into the upper opening portion 7 a of the guide track 7,the movable member 21 running into the upper opening portion 7 a withoutresistence. The front side portion of the cable member 12 divided fromthe movable member 21 is a door closing cable 12 a and the rear sideportion of the cable member 12 divided from the movable member 21 is adoor opening cable 12 b.

The movable member 21 is connected to an interior rear end portion ofthe slide door 2 by means of a hinge arm 22 and moves rearwardly andfrontwardly through the opening portion 7 a of the guide track 7 bymeans of a force of pulling the door opening cable 12 a or the doorclosing cable 12 b due to the rotation of the open-close drive motor 14.Consequently, the slide door 2 moves along its closing direction or itsopening direction.

A rotary encoder 18 engages with a rotary shaft of the drive pulley 15in order to measure precisely or high resolvability a rotary angle ofthe rotary shaft. The rotary encoder 18 outputs an output signals ofpulse number according to the rotary angle of the drive pulley 15 inorder to determine or measure a movement distance of the slide door 2 orthe cable member 12 wound around the drive pulley 15.

Consequently, when the pulse number output from the rorary encoder 18 iscounted from the initial value of the full-close position of the slidedoor 2 to that of its full-open position, this count number N obtainedby the rotary encoder 18 shows the position of the movable member 21 orthe position of the slide door 2.

FIG. 6 is a plan view schematically showing a movement of slide door 2.As described above, the front portion of the slide door 2 is held byengaging with the upper track 4 and the lower track 5 through thesliding connectors fixed at its upper and lower ends and the rearportion of the slide door 2 is held by an engagement of the hinge arm 22to the guide track 7.

Automatic Slide Door Control Apparatus

Next, the circuitry of relationship between the automatic slide doorcontrol apparatus 23 and respective electric elements within the vehiclebody 1 and the slide door 2 will be explained with reference to theblock diagram of FIG. 7. The automatic slide door control apparatus 23controls the slide door drive apparatus 10 and is positioned, forexample, near the motor drive portion 11 within the vehicle body 1.

The automatic slide door control apparatus 23 is connected to variouselectric components in the vehicle body 1, such as a battery 24 forreceiving DC voltage BV, an ignition switch 25 for receiving an ignitionsignal IG, a parking switch 26 for receiving a parking signal PK, and amain switch 27 for receiving a main switch signal MA.

Furthermore, the automatic slide door control apparatus 23 nay beconnected to a door open switch 28 for receiving a door open signal D0,a door close switch 29 for receiving a door close signal DC, a keylesssystem 31 for receiving a remote control door open signal R0 or a remotecontrol close signal RC from the wireless remote controller 30, and abuzzer for generating a warning sound of warning the user that the slidedoor 2 is automatically opened or closed.

It is noted that the fact of the door open switch 28 and the door closeswitch 29 respectively are structured with two operating members showsthat these switches are installed at two positions, for example, of thedriver's seat and the rear seat in the interior of vehicle body 1.

Next, there is the connection between the automatic slide door controlapparatus 23 and the slide door drive apparatus 10, such as a connectionfor supplying a power to the open-close drive motor 14, a connection forcontrolling the electromagnetic clutch 16, and a connection with a pulsesignal generator 38 for receiving pulse signals from the rotary encoder18 and outputting pulse signals φ1, φ2.

Futhermore, a connection of the automatic slide door control apparatus23 and various electric elements within the slide door 2 is carried outby the connection of a vehicle boby side connector 33 placed at the dooropening portion 3 with a door side connector 34 placed at an opening endof the slide door 2 when the slide door 2 opens less than its full-closecondition.

When this connection condition is attained, the automatic slide doorcontrol apparatus 23 is connected to various electric elements in theslide door 2 through a connection for supplying a power to a closuremotor CM in order to shut-up the slide door 2 from its half-latchedcondition to its full-latched condition, a connection for supplying apower to an actuator (ACTR)35 in order to drive the door lock 8 andrelease it from the striker 9, a connection for receiving a half-latchsignal HR from a half-latch switch 36 detecting a half-latchedcondition, and a connection for receiving a door knob signal DH from adoor knob switch 37 a detecting operation of the door knob 37 connectedto the door lock 8.

Next, construction of the automatic slide door control apparatus 23 willbe explained with reference to the block diagram of FIG. 8. Theautomatic slide door control apparatus 23 has a main control portion 55for repeatedly carrying out a control operation with a fixed timeinterval. The main control portion 55 includes a control mode selector54 for selecting a suitable control mode according to the situations ofvarious input and output peripheral devices.

The control mode selector 54 selects the most suitable exclusive controlportion according to the most recent situation of input and output fromthese peripheral devices. Such exclusive control portion has an autoslide control portion 56 for controlling mainly the open-close operationof the slide door 2, a speed control portion 57 for controlling a movingspeed of the slide door 2, and a pinch control portion 58 for detectingany obstruction, if any, impeding or restraining a movement of the slidedoor 2 along its movement direction while it is being driven. Also, theauto slide control portion 56 includes a slope judgement portion 59 fordetecting a posture of the vehicle body 1.

Furthermore, the automatic slide door control apparatus 23 has aplurality of input/output ports 39 and adapted to input and output anon/off signal of various switches mentioned above and anoperation/non-operation signal of relays or clutches and the like. Also,a speed calculation portion 42 and a position detector 43 receivetwo-phase pulse signals φ1, φ2 output from the pulse signal generator 38and then generate a cycle calculation value T and a position calculationvalue N.

The battery 24 is charged by a generator 40 while the vehicle isrunning. An output power is made of a constant voltage by astabilization power source 41 and it is applied to the automatic slidedoor control apparatus 23. The output voltage of the battery 24 isdetected by a voltage detector 47, the voltage value detected by thevoltage detector 47 is changed to digital signal through an A/Dconvertor 48 andit is input to the automatic slide door controlapparatus 23.

Furthermore, an output voltage from the battery 24 is supplied to ashunt resistance 49 and a value current I flowing through the shuntresistance 49 is detected by a current detector 50. The current value Idetected is changed to a digital signal through the A/D convertor 51.The signal is input to the automatic slide door control apparatus 23.

Also the output voltage from the battery 24 is supplied to an electricswitch element 46 through the shunt resistance 49. This electric switchelement 46 is on/off controled by the automatic slide door controlapparatus 23 in order to change a DC signal to a pulse signal which issupplied to the open-close drive motor 14 or the closure motor CM. Aduty ratio of the pulse signal is adapted to be freely controlled by thepower switch element 46.

The pulse signal obtained through the power switch element 46 issupplied to the open-close drive motor 14 or the closure motor CMthrough an inversion circuit 45 and a motor exchanging circuit 44. Theinversion circuit 45 changes the driving direction of the open-closedrive motor 14 or the closure motor CM and constructs a power supplycircuit for the motor together with the power switch element 46.

The motor exchanging circuit 44 selects either the slide door open-closedrive motor 14 and the closure motor CM, respectively operativeaccording to the instruction of the main controller 55. Both motors areadapted to drive the slide door 2 and not driven simultaneously, so itis possible to optionally supply a drive power.

In addition, there are a clutch drive circuit 52 for controlling theelectromagnetic clutch 16 according to the instruction of the maincontroller 55 and an actuator drive circuit 53 for controlling theactuator 35 according to the instruction of the main controller 55.

Main Routine

Next, operation of the invention having this construction will bedescribed. FIG. 9 is a flow chart of the main routine showing operationof the automatic slide door control apparatus 23. First, an initial setis done (Step 101) in order to initialize parameters and the like in afirst period of the operation. SW judgement (Step 102) judges whetherthese various switches 25-29 connected to the input and output port 39as described are in its open condition or in its close condition andthen sets flags and the like showing the open condition or the closecondition of the individual switch according to the judging result.

An A/D input (Step 103) intakes the voltage value V and the currentvalue I from the A/D convertors 48 and 51. This A/D input has a currentvalue correction (Step 111) and a voltage address change (Step 112) of alower level.

Next, a mode judgement (Step 104) for judging whether it is an automaticslide mode (Step 113) or a closure mode (Step 114) according to theenvironmental situation of the open or the close condition and the likeof various switches mentioned above is done to select either step. Theautomatic slide mode is a mode to control the open-close movement of theslide door 2 by means of driving the open-close drive motor 14. Theclosure mode is a mode to shunt the slide door in its full-latchedcondition or to release it by means of driving the closure motor CM.

Next, an actuator(ACTR) relay control (Step 105), a clutch relay control(Step 106), an automatic slide relay control (Step 107) and a closurerelay control (Step 108), respectively are of direct control type, onwhich the controlled results of respective controls are reflected forsupplying a power to the electromagnetic clutch 16 and the open-closedrive motor 14 and CM. The function and operation of these controls arewell known and detail explanation for them is omitted from thisdescription. Start and stop operations of the open-close drive motor 14for the slide door 2 are carried out at the step 107 of the automaticslide relay control.

Next, step 109 of a sleep mode is a control mode for decreasing oreconomizing a power consumption when no change is happened for a longperiod. A program adjustment (Step 110) controls and determines aninterval of main loop to a constant time of, for example, 10 mm secondby means of a program adjustment timer (Step 115) in an interruptionprogram provided from a different loop.

Receiving interruptions of the program adjustment timer in the programadjustment keeps the interval always constant, during which interval thecontrol points of individual steps return to an entrance of the mainloop and which interval is apt to change due to such control points dropin the deeper level of the nest or such controls are done at upperlevels. When the program adjustment is finished, it returns to the SWjudgement (Step 102) and the process repeats its following steps asabove-described. It is a loop control.

Mode Judgement Routine

FIG. 10 is a flow chart showing an outline of an automatic slide modejudgement in the mode judgement (Step 104). The automatic slide nodejudgement includes a start mode (Step 117) for dividing a start of themovement of the slide door 2 according to various situations at thatmoment, a pinch judgement (Step 118) for suitably controlling themovement of the slide door 2 according to the situation at that moment,a slope mode (Step 119) and a speed control (Step 120). The slope modehas routines of a level ground value data input (Step 121), a slopejudgement (Step 122) and the like at its lower stages.

The automatic slide mode judgement (Step 116) is branched to anyone ofan automatic open operation (Step 124), an automatic close operation(Step 125), a manual close operation (Step 126), a reverse openoperation (Step 127) and a reverse close operation (Step 128) by meansof identifiers according to the environmental situation at a position ofa switch statement (Step 123). These operation controls have routines ofa target position calculation (Step 129) and a full-open detection(Step130) at lower stages of these controls. Further, there is a routineof a stop mode (Step 131) at the same level as that of the start mode(Step 117) and the other.

The start mode (Step 117) has routines of an ordinal start mode (Step133), an ACTR start mode (Step 134), a manual ordinal start mode (Step135) and a manual full-close start mode (Step 136) at lower stages,which are branched through the switch statement (Step 132).

It is noted that the multi-branching flows of such switch statements(Step 123 and 132) use flags of ordinal 1 bit as an identifier showingthe environmental situation of the open condition and the closecondition of switches and the continuation or the completion of thenecessary control operation.

The flow of the automatic slide mode judgement transfers its controlpoint according to the main routine. Both routines of a pulse countertimer (Step 115A) and a pulse interruption (Step 115B), differentlyshown in FIG. 10, constitute an interruption program having differentcontrol points from the main routine.

Cycle Count Value T/Position Count Value N

FIG. 11 is a time chart for obtaining the cycle count value T and theposition count value N, respectively necessary in the routines of thepulse count timer (Step 15A) and the pulse interruption (Step 115B) ofthe interruption program.

As shown in FIG. 11, speed signals V φ1, φ2 of two phases correspond totwo phase pulse signals V φ1, φ2 output from a rorary encoder 18 inorder to detect the rotation direction of the rotary encorder 18 or themovement direction of the slide door 2 according to a phase relation ofthese signals. Concretely, if the pulse signal Vφ2 is in L level (asshown) when the pulse signal Vφ1 rises, it is determined that, forexample, it is the door opening direction. And if the pulse signal Vφ2is in H level, the door closing direction is determined.

Speed calculation portion 42 generates an interruption pulse g1 at themoment of rising of the speed signal Vφ1 and counts the pulse number ofa clock pulse c1 having a cycle (for example, 400 μsec) whic hissub-stantially smaller than the interruption pulse g1 during ageneration cycle of the interruption pulse g1, obtaining the count valueof a cycle count value T. Consequently, the cycle count value T is oneobtained by converting a cycle of the pulse signal Vφ1 output from therotary encoder 18 to one of digital value.

For example, presuming that the output pulse of the rotary encoder 18 isone pulse per 1 mm (1 cycle), the movement speed of the slide door 2becomes 1 mm/(400 μs×250)=10 mm/sec′ when the cycle count value T is250, and the mevement speed becomes 25 mm/sec when T is 100.

Cycle count values TN−3 to TN+3 shown in FIG. 11, respectively haveaffixes of the position count value N of the position information of theslide door 2, which information is obtained by counting the positioncount pulse (substantially, it is an interruption pulse g1) obtained bythe output signal φ1 from the rotary encoder 18. Cycle count value TNshows a cycle count value T corresponding to the position of number Nnoticeable at that moment, so TN−1, TN−2 or TN+1, TN+2 show the cyclecount values T concerning the positions before or behind of 1 or 2 fromthe position count value N.

In addition, according to the prefered embodiment of the invention, amovement speed of the slide door 2 is recognized from the cycle countvalue of four continuously consecutive cycles of speed signal Vφ1, andthe invention has four cycle registers 1 to 4 storing the cycle countvalue of four cycles, so these four cycle registers hold four values ofcycle count in this manner that the position of number N is a noticedpoint and the point becomes the lead output values of these cycleregisters 1 to 4.

Conseqently, the routine of the pulse counter timer (Step 115A) and thepulse interruption (Step 115B) gains the cycle count value T and theposition count value N at their particular timing different from that ofthe main routine.

FIG. 12 shows a time chart of sampling points sampled as the positioncount pulses as the output signal φ1 which the rotary encoder 18 outputaccording to the resolution B at control registers E1 to E6 describedbelow of the slide door 2. That is, the position count pulse φ1 issampled by a resolution 2 obtained by dividing the positon count pulseφ1 by a half in these control regions E3 and E4, sampled by a resolution4 obtained by dividing the position count pulse φ1 by a fourth in thecontrol region E2, and sampled by a resolution 8 obtained by dividingthe position count pulse φ1 by a eighth in these control regions E1, E5and E6.

Control Region of Slide Door

Here, these control regions E1 to E6 of the slide door 2 will bedescribed. FIG. 13 shows a plan view of the guide track 7. Open andclose position of the slide door 2 is shown by a position of themovement member 21. Existence area of the slide door 2 moving along itsclosing direction is divided into four areas 1 to 4, existence area ofthe slide door 2 moving along its opening direction is divided intothree areas 5 to 7.

It is resumed that the position count value N when the slide door 2exists at its full-close position is 0(zero) and the position countvalue N when the slide door 2 exists at its full-open position is 850.In this case, when the slide door 2 moves along its close direction(z=0), N=850 to 600 exists in area 1, N=600 to 350 exists in area 2,N=350 to 60 exists in area 3 and N=60 to 0 exists in area 4. A half at afull-close side within area 4 belongs to an ACTR region. When the slidedoor 2 moves along its open direction (z=1), N=0 to 120 exists in area5. N=120 to 800 exists in area 6 and N=800 to 850 exists in area 7.

The areas 1 and 6 are ordinal control region E1, area 2 is a speedreduction control region E2, area 3 is a link speed reduction region E3,area 4 is a pinch control region E4, area 5 is a link speed reductionregion E5 and area 7 is a check control region E6. The slide door 2 iscontrolled by the movement speed etc. suitable to various controlregion.

Pulse Interruption Routine

FIG. 14 is a flow chart showing the pulse interruption routine (Step115B). This routine discriminates at every time of generation of theinterruption pulse g1 among the areas 1 to 7 and these control regionsE1 to E6 (see FIG. 13) in which the slide door 2 exists at that momentaccording to the position count value N and the door movement directionZ. These areas 1 to 7 and these control regions E1 to E6 will bedescribed below in detail.

First, the routine checks whether the open-close drive motor 14 has beenstopped or not (Step 137), and when it is driven, the present cyclecount value T is stored in the cycle register (Step 138) in order torelease the stop condition of the open-close drive motor 14 (Step 139).When the open-close drive motor 14 has been stopped, a full load valueFF (16 digit number) is set on the cycle count value T (Step 140).

Next, the movement direction Z of the slide door 2 is checked (Step141). When the slide door 2 is moving along its open direction (Z=1),the position count value N is incremently counted (Step 142). When thisposition count value N resultantly becomes more than 120 and less than800 (Steps 143 and 144), the previous region is the control region E1 ornot (Step 145). When it is control region E1, the routine judges thatthe present region is the control region E1, so the process is stopped.When the previous region is not the control region E1, it is set in thecontrol region E1 and the area 6 (Step 146) and an area changeindication data is set in “changed”(Step 147), ending the process.

When the position count value N is less than 120 (Step 143), the routinechecks whether the previous region is the control region E5 or not (Step148). If it is the control region E5, the routine judges that it existsat present in the control region E5, ending the process. If the previousregion is not the control region E5, it is set on the cotrol region E5and the area 5 (Step 149) and the area change indication data is set in“changed”(Step 147), ending the process.

When the slide door 2 is moving along its close direction (z=0) (Step141), the position count value N is decremently counted (Step 152). Whenthis position count value N resultantly becomes over 600 (Steps 153 to155), the routine checks whether the previous region is the controlregion E1 or not (Step 156). When it is the control region E1, theroutine judges that it presently exists in the control region E1, endingthe process. When the previous region is not the control region E1, thecontrol region E1 and the area 1 are set(Step 157) and the area changeindication data is set in “changed”(Step 147), ending the process.

When a position count value N is less than 60 (Step 153), the routinechecks whether the previous region is the cotrol region E4 or not (Step158A). If it is the cotrol region E4, the routine judges that it is thecontrol region E4 at present and so the process is finished. When theprevious region is not the control area E4, the control region E4 andthe area 4 are set (Step 158B) and the area change indication data areset in “changed”(Step 147), ending the process.

Pulse Count Timer

FIG. 15 is a flow chart showing a pulse count timer (Step 115A). Asshown, the number of a clock pulse C1 is counted by the predeterminedpulse counter obtaining the cycle count value T (Step 159) and checkingwhether the cycle count value T becomes its top number (T=FF) or not(Step 160). When it is not full or topped, it returns to the returnstep. When it rises to its top number, the cycle count value T iscleared to zero (T=0) (Step 161), the count value of the predeterminedcounter is increased to make a carrier up (Step 162), returning theprocess.

Control in Area 1 to 7

FIG. 16 is a memory table for memorizing various data necessary tocontrol the slide door 2 in the areas 1 to 7 described above withreference to FIG. 13. Areas 1 and 6 are called the ordinal controlregion E1, in which the suitable movement speed T1 of the slide door 2is 250 mm/sec, a standard duty value D is 250, a resolution B ofsampling region is 8 and attention degree is small.

Duty value D shows the duty cycle of the voltage wave shape (squarewave) impressed to the motor. According to the embodiment of theinvention, ‘D=250’ means a DC signal of the duty cycle 100% or H leveland ‘D=0’ means a DC signal of the duty cycle 0% or L level. Changingthe duty cycle of square wave in 250 steps among these levels (0 to100%) controls the output torque of the motor.

The area 2 is called the speed reduction control region E2, in which thesuitable movement speed T2 of the slide door 2 is 170 mm/sec, the dutyvalue D is 170, the resolution B is 4 and the attention degree isdangerous. The area 3 is the link speed reduction control region E3, inwhich the suitable movement speed T3 of the slide door 2 is 100 mm/sec,the duty value D is 100, the resolution B is 2 and the attention degreeis also dangerous. Furthermore, the area 4 is the pinch control regionE4, in which the suitable movement speed T4 is 120 mm/sec, the dutyvalue D is 120, the resolution B is 2 and the attention degree isdangerous.

The area 5 is the link speed reduction control region E5, in which thesuitable movement speed T5 is 200 mm/sec, the duty value D is 200, theresolution B is 8 and the attention degree is small. The area 7 is thecheck control region E6, in which the suitable movement speed T6 is 250mm/sec and the attention degree is middle.

The resolution B is set at 8 in the areas 1, 6 of the ordinal region E1having low attention degree and the area 5 of the link speed reductioncontrol region E5. The area 2 of the speed reduction region E2 isdangerous, in which the pinch is apt to happen. However, the area 2 hassufficient openness of the slide door 2, so the resolution B is set in4. Also, in the area 3 of the link speed reduction control region E3 andthe pinch control region E4, the slide door 2 moves along a curved line,and they have most dangerous areas resulting in setting of the finestresolution 2. FIG. 12 shows a sampling region Q fixed on the basis ofthese resolutions B, in which ‘n’ shows a closing direction and ‘m’shows open direction.

Auto Slide Mode Judgement

FIG. 17 is a flow chart showing the details of the automatic slide modejudgement routine (Step 116). This routine judges whether it is theautomatic slide mode for driving the open-close operation of the slidedoor 2 or not. When it is not the automatic slide mode, a start of theslide door 2 is judged or determined in order to carry out a process ofthe automatic slide operation. When an end of the automatic slideoperation is found, the stop process of the automatic slide operation iscarried out, ending the automatic slide operation.

When the automatic slide operation is stop, it is not in a stop modecondition (Step 163) and not in the automatic slide operation (Step165), so this routine checks whether the main switch is in ON conditionor in OFF condition (Step 167). If the main switch is in OFF condition,the process returns.

When the main switch is in ON condition, manual/start judgement (Steps168,169) are done. This manual judgement (Step 168), which will bedescribed in detail (FIG. 18), sets a manual open condition or a manualclose condition when the slide door 2 has moved at a speed higher thanthe predetermined one, and prepares the transfer to the automatic slideoperation mode.

After the manual judgement is finished, a start mode judgement (Step169) is done in order to determine the automatic slide operation mode.When the switch judgement (Step 102) detects the door opening of theremote switch 30 or the ON condition of the door open switch 28, or themanual judgement (Step 168) confirms the manual open condition, theautomatic open operation mode (Step 181) is set. Also when the ONcondition of the door close switch 29 is detected or the manual closecondition is confirmed, it is set on the automatic close operation mode(Step 182). When the ON status of the door close switch 29 is detectedin the dangerous regions, the manual close operation mode (Step 193) isset.

When the start mode judgement (Step 169) is finished as described above,this routine judges whether it is on the automatic slide operation modeor not (Step 170). When it is not the automatic slide operation mode, itreturns. When it is the automatic slide operation mode, it means thatthe automatic slide operation mode starts, so the operation count valueG is cleared (Step 171), the condition of the automatic slide operationcarrying out is set (Step 172), the condition of starting is set (Step173) and the automatic slide start is set (Step 174). Thus, theautomatic slide operation has been set.

A check control (Step 175) is for controling the temporary hold of theslide door 2, or the stop and hold of the slide door 2 with making theelectromagnetic clutch 16 in its half-clutched condition. When theautomatic slide operation is carrying out, the step 175 functions afterthe stop mode is finished. While the manual operation is carrying out,it functions after the confirmation of the stop condition of the slidedoor 2.

When the automatic slide start is set in the steps 168 to 174, theautomatic slide mode judgement routine is carried out, in which theautomatic slide operation and the start mode (Steps 165,166) are judged,carrying out a process of the start mode (Step 176).

This start mode discriminates the mode for starting the automatic slideoperation driving the slide door 2 according to the ON/OFF condition ofvarious switches and the environmental situations, and the control isdone with the mode discriminated by the start mode. The detailedexplanation of the control will be described later. When next theautomatic slide mode judgement routine is done after the start mode isfinished, this process enters in ordinal mode, being carried out a pinchjudgement (Step 177), a speed control (Step 178) and a slope judgement(Step 179). These steps will be explained later in detail.

According to the open/close condition of various switches obtained inthe start mode judgement (Step 169), process is branched to, through theswitch statement 180, an automatic open operation (Step 181), anautomatic close operation (Step 182), and a manual close operation (Step183). When a pinch is detected in these operations, it is branched to areverse open operation (Step 184) and a reverse close operation (Step185).

It is noted that, while the automatic slide is operating (Step 186), theoperation count value G is incremently counted (Step 187), returning tothe return step (RET). When the routine judges that the automatic slideoperation has been finished (Step 186), the operation count value G iscleared (Step 188) and the stop mode is set (Step 189), returning to thereturn step.

When the stop mode is set (Step 189), the stop mode condition is judgedin next the automatic slide mode judgement routine (Step 163), carryingout the stop mode (Step 164). This stop mode controls the timing of theOFF of the electromagnetic clutch 16 and the OFF of the open-close drivemotor 14 in order to obtain a safety control in stopping the drive ofthe slide door 2 when the open/close of the slide door 2 is controlledin the automatic slide mode.

That is, when the slide door 2 stops at the mid position between itsfull-open position and its full-close position, the open-close drivemotor 14 is first stopped, then the electro-magnetic clutch 16 is turnedOFF after a predetermined waiting time. When the slide door 2 is infull-close condition, the open-close drive motor 14 and theelectromagnetic clutch 16 are immediately and simultaneously turned OFF.While the stop mode is operating, the operation count value G isincremently counted (Step 191), returning to the return step. After thestop mode is finished, the operation count value G is cleared (Step192), the stop mode is released (Step 193), the automatic slideoperation is stopped (Step 194), returning to the return step.

Manual Judgement Routine

FIG. 18 is a flow chart showing in detail a manual judgement routine(Step 168). This routine detects a door speed measured differently fromthe main routine controlling the slide door 2, so that this routinerecognizes that the slide door 2 is manually operated and obtains astart timing of the power drive.

First, the routine judges whether the slide door 2 is in full-closecondition (half switch is ON) or not (Step 195A). then the slide door 2is in full-close condition, this routine judges whether it is set in thedoor full-close condition or not (Step 195D). If it is not set in suchcondition, it is set in the door full-close condition (Step 195E). Next,it is judged whether the door knob 37 has been operated and the knobswitch 37 a has been turned ON or not (Step 195F). If it doesn't turn ONyet, it returns. When the knob switch 37 a turns ON (Step 195F), thedoor full-close condition is cleared (Step 195G), the full-close doormanual open condition is set (Step 195H), returning to the return step.

When the slide door 2 is not in its full-close condition (Step 195A), itis judged whether the door full-close condition is set or not (Step195B). If it is set, the door full-close condition is cleared (Step195G), setting the full-close door manual open condition (Step 195H). Indetail, the slide door 2 is opened by pulling the door knob 37 inordinal cases, resulting in a clear of the full-close condition of theslide door 2 (Steps 195F, 195G). In case that the knob switch 37 a isnot functioning or such knob switch 37 a is not employed, the OFFcondition of a half switch is detected clearing the door full-closecondition (Steps 195A,195B,195G), and the full-close door manual opencondition is set (Step 195H).

When the door full-close condition is not set (Step 195B), the speeddata (a/T:a is resolution of rotary encorder) indicating a door movementspeed is higher than the predetermined manual recognition speed (Step195C). Furthermore, when it is less than a rapid close speed (Step 196),either Rode of the door open manual condition (Step 198) and the doorclose manual condition (Step 199) is set according to the open and closedirection. When the door speed is lower than the manual recognitionspeed (Step 195C), the stop condition of the slide door 2 is recognized,returning to the return step. When the door speed is more than the rapidclose speed (Step 196), it returning to the return step in order toprotect the mechanism and keep the manual close operation.

However, after the electromagnetic clutch 16 is turned OFF, movement dueto tension of wire is disregarded, so that any transfer of the doorcondition to anyone of close and open ones is not accepted during apredetermined time lag. In addition, when this routine detects the OFFcondition of the half switch or the operation signal of the door knobswitch 37 a while the slide door 2 is almost full closed, a manual opendetection signal is specially set.

Furthermore, the manual recognition speed is of a value generating astart of power drive for the slide door 2. This value can be setrelatively and willingly within a wide range. The movement speed of theslide door 2, that is to say, the cycle count value T is measurable bythe rotary encorder 18 using its one cycle of the smallest resolution,so that it is possible to generate a chance or start of power drive forthe slide door 2 by a movement of the slide door 2 of even 1 mm.Consequently, response of the automatic open and close operation becomesof high sensibility and detection of mevement change of the slide door 2becomes of high resolution and high sensibility, resulting in highsafety.

Auto Open Operation Routine

FIG. 19 is a flow chart showing the detail of the automatic openoperation routine (Steps 122 and 181). This routine selects throughswitch statement 180 when the remote controller 30 operates to the dooropen, or the door open switch 28 is turned ON, or the manual door opencondition is recognized, and controls the stop operation of driving theslide door 2 or the reverse operation in the automatic open operation inorder to drive on safty the slide door 2 in the open direction.

First, the full-open detection (Step 200) detects as described later indetail whether the slide door 2 is in the full-open condition or not.After this Step 200 is finished, a pinch judgement (Step 201) is carriedout (Step 201). If a pinch is not existed, it is judged that thefull-open detection detects a full-open condition or not (Step 205). Incase that the slide door 2 is not in the full-open condition and not inthe abnormal condition (Step 207), a switching operation can beacceptable (Step 208), close switch of the remote controller 30 and thedoor close switch 29 are in OFF condition (Step 210,211), main switch isin ON condition (Step 212) and open switch of the remote controller 30and the door open switch 28, respectively are in OFF condition (Steps213 and 214), it is returned to the returning step and the automaticopen operation is continued.

When a pinch is detected (Step 201), a target position count fortransferring a control toward the reverse direction is computed (Step202) and a pinched condition is released (Step 203). If it is not in theclose dangerous region (areas 2 to 4) (Step 204), the automatic openoperation is released, the reverse close operation is permitted, thedoor open operation is released, the door close operation is permitted(Steps 215 to 218), returning to the return step. If it is in the closedangerous region, the automatic open operation is allowed (step 223),returning to the return step.

When the slide door 2 reaches its full-open position (Step 205), thedoor full-open detection is released (Step 206), the automatic openoperation is released (Step 223), returning to the return step. Also, incase that the abnormal conditions such as the motor being locked aredetected (Step 207), the automatic open operation is released (Step223), returning to the return step. Consequently, the electro-magneticclutch 16 and the open-close drive motor 14 are controlled by releasingthe automatic open operation (Step 223), stopping the slide door 2(Steps 106, 107).

According to the embodiment of the invention, the open and closeswitches are all of a push ON/push OFF type. When any switch is kept inpressed condition, a condition in which switch is not acceptable isjudged (Step 208), and ON/OFF condition of respective open and closeswitches are confirmed.

That is, when at least anyone of the open switch of the remotecontroller 30 or the door open switch 28 is in the ON condition (Steps209,219) and both of the close switch of the remote controller 30 andthe door close switch 29 are in the OFF condition (Steps 220, 222), itis returned to continue the automatic open operation. If at least anyoneof the open switch of the remote controller 30 or the door open switch28 is in the ON condition (Steps 209, 219) and at least anyone of theclose switch of the remote controller 30 or the door close switch 29 isin the ON condition (Steps 220, 222), it is said that both of the openswitch and the door open switch are in the ON condition, so that theautomatic open operation is released (Step 223), returning to the returnstep. If both of the open switch of the remote controller 30 and thedoor open switch 28 are in the OFF condition (Steps 209, 219), a switchacceptable condition is set (Step 221), returning to the return step.

When it is possible to accept a switch function (Step 208), that is, allopen switch and close switch are in the OFF condition, at least eitherthe close switch of the remote controller 30 or the door close switch 29(Steps 210, 211), it is judged that an interruption of the door closeoperation has been output and it is transferred to the process after thestep 204 mentioned above.

After the main switch is turned OFF (Step 212), the automatic openoperation is released (Step 223) to stop the open-close drive Rotor 14,returning to the return step. When either the open switch of the remotecontroller 30 or the door open switch 28 is turned ON (Steps 213, 214),it is said that the open switch of the push ON/push OFF type is againturned ON, and the automatic open operation is released in order to stopthe slide door 2 at this position (Step 223), returning to the returnstep.

Auto Close Operation Routine

FIG. 20 is a flow chart showing the detail of an automatic closeoperation routine (Steps 123, 182). This automatic close operationroutine makes the remote controller 30 a codition of the close door orthe door close switch 29 the ON condition, or it is selected through theswitch statement 180 when the door close manual condition is recognized.And this routine controls the stop operation of driving the slide door 2or the reverse operation in the automatic close operation in order todrive on safety the slide door 2 in the close direction.

When the slide door 2 reaches its half-latched region (Step 224), theautomatic close operation is released (Step 246), returning to thereturn step. When the slide door 2 exists out of the half-latchedregion, a pinch judgement is carried out (Step 225). When no pinch isexisted, in normal condition, switching is acceptable, both the openswitch of the remote controller 30 and the door open switch 28 are inthe OFF condition, the main switch is ON, and both the close switch ofthe remote controller and the door close switch 29 are in the OFFcondition (Steps 229 to 235), the condition is in the automatic closeoperation, so it returns to the return step.

When a pinch is detected (Step 225), the target position count iscarried out in order to move the slide door 2 along the oppositedirection (Step 226), releasing a pinched condition (Step 227), theautomatic close operation is released (Step 228), the reverse openoperation is permitted, the door close operation is released, and thedoor open operation is permitted (Steps 236 to 238). When the slide door2 is not in the ACTR region, the step is returned to the return step.When it is in the ACTR region (Step 239), the ACTR operation ispermitted (Step 240), returning to the return step.

When an abnormal current is flown by the motor lock and the like and itis detected (Step 229), the automatic close operation is released (Step246), returning to the return step. Then, the electromagnetic clutch 16and the open-close drive motor 14 are controlled in order to stop theslide door 2 (Steps 106, 107).

When any open and close switch is kept in compressed condition and it isjudged that it is not a switching acceptable condition (Step 230),ON/OFF condition of respective open and close switch is confirmed. Thatis, when at least either the close switch of the remote controller 30and the door close switch 29 is in the ON condition (Steps 241, 242) andboth the open switch of the remote controller 30 or the door open switch28 are in the OFF condition (Steps 243, 244), then it returns tocontinue the automatic close operation.

When the open switch of the remote controller 30 or the door open switch28 is in the ON condition (Steps 243, 244), it is said that both theseopen switches are in the ON condition, so that the automatic closeoperation is released (Step 246) and it returns to the return step. Onthe contrary, when both the close switch of the remote controller 30 andthe door close switch 29 are in the OFF condition (Steps 241, 242), theswitching acceptable condition is set (Step 245), returning to thereturn step.

When either the open switch of the remote controller 30 or the door openswitch 28 is turned ON (Steps 231, 232) during being in the switchingacceptable condition (Step 230), it is judged that the door openoperation is instructed, so a process is transferred to another processafter the step 228 mentioned above.

When the main switch turns OFF (Step 233), the automatic close operationis released (Step 246), returning to the return step. When either theclose switch of the remote controller 30 or the door close switch 29 isturned ON (Steps 234, 235), it is said that the close switch of pushON/push OFF type is again turned ON, so in order to stop the slide door2 at this position, the automatic close operation is released (Step246), returning to the return step.

Manual Close Operation Routine

FIG. 21 is a flow chart showing a manual close operation routine (Steps126, 183) in detail. This routine recognizes that the door close switch29 is turned ON in the dangerous region, then it is selected in theswitch statement 180, generating a close operation only while anoperator is pressing the door close switch 29 and a stop mode for theslide door 2 when the door close switch 29 pressed by the operator isreleased.

This routine first carries out a pinch judgement (Step 247). When nopinch is occurred, it judges whether the door close switch 29 is in theON condition or not (Step 249). When the door close stitch 29 is in theON condition, this routine returns to the return step. When the doorclose switch 29 is not in the ON condition, the manual close operationis released (Step 255), returning to the return step. Theelectromagnetic clutch 16 and the open-close drive motor are controlledby releasing the manual close operation (Step 255), so the slide door 2is stopped (Step 106,107).

If the pinch is detected (Step 247), a pinched condition is released(Step 248) and the door close operation is released in order to transferthe control in the reverse direction, the door open operation ispermitted, the manual close operation is released, the reverse openoperation is allowed, the target position calculation is carried out(Steps 250 to 254), returning to the return step.

Reverse Open Operation Routine

FIG. 22 is a flow chart showing in detail the reverse open operationroutine (Steps 127, 184). This routine reverses the movement of theslide door 2, moves it to the calculated target position and stops theslide door 2 at that position when a pinched is judged during theautomatic close operation (FIG. 20), or the manual close operation (FIG.21). This routine is a mode for safely controlling the stop of the slidedoor 2 or the reverse operation of the slide door 2.

This routine first functions the full-open detection (Step 256) to judgea full-open condition of the slide door 2. After such full-opendetection is completed, the routine judges whether the slide door 2 isat the calculated target position or not by using the present positioncount value N (Step 257). In case that the door 2 is not at the targetposition, the main switch is in the ON condition (Step 259), the slidedoor 2 is not at full-open position (Step 260), there is no pinch (Step262), it is not abnormal condition (Step 264), it is in the switchacceptable condition (Step 266), and both the close switch of the remotecontroller 30 and the door close switch 29 are in the OFF condition(Steps 267, 269), it is said that the reverse open operation isfunctioning, so it returns to the return step.

When the slide door 2 reaches the target position (Step 257), or themain switch is in the OFF condition (Step 259), the reverse openoperation is released (Step 258), returning to the return step. If theslide door 2 is at its full-open position, a door full-open detection isreleased (Steps 260, 261). Detecting a pinch, a pinched condition isreleased (Steps 262, 263). Detecting an abnormal condition such as themotor lock and the like, the abnormal condition detection is released(Steps 264, 265) and respective the reverse open operation is released(Step 258), returning to the return step. The electromagnetic clutch 16and the open-close drive motor 14 is controlled by releasing Such thereverse open operation (Step 258) and the main routine stops the slidedoor 2 (Steps 106, 107).

When the close switch of the remote controller 30 or the door closeswitch 29 is in the ON condition during the switch acceptable condition(respective open and close switches are in the OFF condition) (Steps267. 269), the reverse open operation is released (Step 258) and theopen-close drive motor 14 is stopped, returning to the return step.

When it is not in-the switch acceptable condition (Step 266), ON/OFFcondition of respective open and close switches are confirmed. If allopen and close switches are not in the OFF condition (Step 268), itreturns to the return step. If all switches are in the OFF condition, aswitching acceptable condition is set (Step 270), returing to the returnstep. It is said that, when a pinch is occurred and the reverse rotationis occurred during, for example, a manual close operation, the doorclose switch 29 may be pressing. In order to continue this mode even thecase mentioned above is occurred, the steps above are functioned.

Reverse Close Operation Routine

FIG. 23 shows a flow chart showing in detail a reverse close operationroutine (Steps 128, 185). The mode of this routine reverses the slidedoor 2, moves it to the target position calculated after a pinch isdetected during the automatic open operation (FIG. 19) and stops theslide door 2 at that position in order to safely control such the stopoperation or the reverse operation of the slide door 2.

The routine first judges by means of the present position count value Nwhether the slide door 2 is at the target position or in the dangerousregion (areas 2 to 4) (Steps 271, 273). When the present position of theslide door 2 is at neither the target position and the dangerous region,the main switch is in the ON condition (Step 274), there is no pinch(Step 275), no abnormal situation (Step 277), it is in the switchacceptable condition (Step 279) and both the open switch of the remotecontroller 30 and the door open switch 28 are in the OFF condition(Steps 280, 283), it is in the reverse close operation, so that itreturns to the return step.

When the slide door 2 is at the target position or in the dangerousregion (Steps 271, 273), or the main switch is in the OFF condition(Step 274), the reverse close operation is released (Step 272),returning to the return step. The electromagnetic clutch 16 and theopen-close motor 14 are controlled by releasing the reverse closeoperation (Step 272), and so the main routine stops the slide door 2(Steps 106, 107).

In addition, when the pinch is detected, a pinched condition is released(Steps 275, 276). When the abnormal situation such as the motor lock isdetected, the abnormal condition is released (Steps 277, 278) andrespective the reverse close operation is released (Step 272), returningto the return step.

When the open switch of the remote controller 30 or the door open switch28 is turned ON (Steps 280, 283) during the switching acceptablecondition (respective open and close switches are in the OFF condition),the reverse close operation is released (Step 272), returning to thereturn step.

When it is not a switching acceptable condition (Step 279) and all openand close switches are not in the OFF condition (Step 281), it returnsto the return step. When all switches are in the OFF condition, theswitching acceptable condition is set (Step 282), returning to thereturn step. This is done because, when a pinch is happened during theautomatic open operation and it is reversely rotated, the door openswitch 28 may be pressing-down and it is neccesary to continue this modeeven though the door open switch 28 is pressing.

Target Position Calculation Routine

FIG. 24 is a flow chart depicting a target position calculation routine(Steps 202, 226, 254) in detail. This routine calculates the targetposition used to reverse the movement direction of the slide door 2 atthe moment of detecting a pinch during the automatic open operation(FIG. 19), the automatic close operation (FIG. 20) or the manual closeoperation (FIG. 21) and move the slide door 2 to the safe position.

First this routine discriminates a movement direction of the slide door2 (Step 284). If it discriminates that the slide door 2 is moving in theopen direction, this routine judges whether its present position of theslide door 2 is in area 3 or 4 (Step 285A). When its present position isin the area 3 or 4, its present position is used as the target position(Step 285C). According to this step 285C, it nay be dangerous atgenerating again a pinch in the reverse close operation of generating apinch during the open operation. Therefore, the reverse close operationis prohibited in the areas 3 and 4. This is the reason of supportingthat the present position is used as the target position of the slidedoor 2.

When the slide door 2 is positioned in neither areas 3 and 4, apreviously determined movement distance (movement volume) is subtractedfrom the present position value shown by a position count value N andthis resultant of calculation is the target position value (Step 285B).However, when the target position value is in the dangerous region ofless than the area 3 (Step 289), a boundary value (N=350) between areas2 and 3 is used as the target position (Step 290).

When this routine judges that the slide door 2 is moving in the closedirection, a previously determined movement distance (movement volumeisadded to the present position value shown by the position count value Nand this resultant of calculation is used as the target position value(Step 286). When the target position value increases more than thefull-open position (N=850) (Step 287), the full-open position value isused as thetarget position (Step 288).

Full-Open Detection Routine

FIG. 25 is a flow chart showing in detail the full-open detectionroutine (Steps 130, 200, 256). This routine recognizes the positioncount value N of the full-open position of the slide door 2 in theinitial operation and memorizes the recognized position count value Nand then detects a full-open condition of the slide door 2 during theautomatic open operation (FIG. 19) or the reverse open operation (FIG.22)

First, the slide door 2 is moved from its full-close position (N=0)during the initial operation. When a value of the position count value Nreaches within the area 7 (Step 291). this routine judges whether thefull-open position data is already recognized or not (Step 292). Becausethat it is not recognized during the initial operation, it judgeswhether the slide door 2 has stopped or not at its full-open position(Step 293). If the slide door 2 is not stopped at its full-openposition, the routine returns to the return step. When the slide door 2has stopped, the position count value N of this time is taken out (Step295).

Next, a full-open margin (optional value) is subtracted from theposition count value N then and the resultant value is memorized in thepredetermined memory as a full-open recognition value (Steps 296, 297).Such full-open margin is determined so as to stop the slide door 2 at aposition before the full-open position in consideration of some movementdistance because that, if the slide door 2 is stopped with some movementby recognizing its full-open position during the open operation, themoving door cannot stop instantly. A full-open recognition value is setas described above and, then the door full-open condition is detected(Step 298), returning to the return step.

When the position count value N reaches the area 7 (Step 291) after thesetting of the full-open recognition value and the position count valueN reaches the full-open recongnition value, the door full-open conditionis detected (Step 298) because the full-open position data are alreadyrecognized (Step 292), and the routine returns to the return step.

Start Mode Routine

FIG. 26 is a flow chart showing in detail a start node routine (Steps117, 176). This mode selects a Rode for starting the slide door 2according to the ON/OFF condition of various switches and environmentalsituation and starts a movement of the slide door 2.

First, it is judged whether a start identifier has been set not (Step299). Initially it is not set, so this routine judges whether it is themanual mode is or not (Step 301A). When it is the manual mode, thisroutine judges whether it is the full-open—door open manual condition ornot (Step 301B). If it is so, the manual full-open close start mode isset (Step 302A). If it is not so, the manual ordinal start mode is set(Step 302B), then the manual modes are released (Step 303).

When it is not the manual mode, this routine judges whether it is thedoor open operation or not (Step 304). When it is the door openoperation, this routine judges whether it is in the ACTR control regionor not (Step 305). When it is in the ACTR control region, the ACTR startmode is set (Step 306). When it is not the door open operation, or whenit is the door open operation and not in the ACTR control region, theordinal start mode is set (Step 307). Setting the identifiers ofdifferent starts as described above, the automatic slide mode operationcount value G is cleared (Step 308), returning to the return step. Thesetting condition of each start mode is shown below.

Ordinal start mode :starts by the switching operation at anytime exceptthe full close

ACTR start mode :starts by the switching operation at the full close

Manual ordinal start mode:starts by the manual operation at anytimeexcept the full close

Manual full-close start mode :starts by the manual operation at at thefull close

After the various identifiers according to each of these above startmode are set (Step 299) and the start mode is selected in next routine,the ordinal start mode (Step 309), the ACTR start mode (Step 310), themanual ordinal start mode (Step 312A), the manual full-close start mode(Step 312B) according to each of these identifiers (Step 300) arecarried out.

The ordinal start mode controls the start operation out of the doorfull-close regions. First, the electro-magnetic clutch 16 is turned ON(Step 106), connecting the open-close drive motor 14 with the drivepulley 15. After On-time-lag of the electromagnetic clutch 16, it is setin the automatic slide operable and the open-close drive motor 14 isturned ON (Step 107). Then, when the open-close drive motor 14 is turnedON, the operationally classified start identifier is reset and a finishof the operationally classified start control is told to other routine.

The ACTR start mode controls, after the engagement between the latch 8of the door lock and the striker 9 is disengaged through the ACTR 35,the start mode for automatically drive the slide door 2. Afterconfirmation of the OFF condition of the half-latch switch 36 for apredetermined time length, the electromagnetic clutch 16 is turned ON(Step 106). After passing the on-time-lag of the electromagnetic clutch16, it is turned to the automatic slide operation condition. Then, whenthe open-close drive motor 14 is in the ON condition (Step 107), theoperational classified identifier is reset and a finish of theoperational classified start control is told to other routine.

The manual ordinal start mode and the manual full-close start mode willbe described later. When an identifier is reset and again the start modeis selected in the next routine, the start mode is released (Steps 313,314) and the operation count value G is cleared (Step 315), returning tothe return step.

Manual Ordinal Start Mode

FIG. 27 is a flow chart showing a manual ordinal start mode (Step 312A).This start mode detects a manual operation-when the slide door 2 is notin full-close condition, and drives the slide door 2 along its openingor closing directions in the automatic mode,,

First, the mode judges whether the open-close drive motor 14 fortheautomatic sliding is under its operating condition or not (Step 316). Itis not under the operating condition initially, so that the motor drivevoltage determined by PWM control described later is set (Step 318).Next, this mode discriminates the operating direction of the slide door2 (Step 326). When it is in the open operation, a door open operablecondition is set to prepare for driving the open-close drive motor 14along its open direction of the slide door 2 (Step 327). When it is inthe close operation, a door close operable condition is set to preparefor driving the open-close drive motor 14 along its close direction(Step 328). In case of the opening direction (Step 327), this modejudges whether it isin the ACTR region or not (Step 329). In case of notthe ACTR region, the mode returns to the return step. In case of theACTR region, the ACTR operable condition is set (Step 330).

When the open-close drive motor 14 is under operation condition (S tep316), this mode judges whether the manual time lag is over or not by theoperation count G. If it is not over, it returns to the return step.When the manual time lag is over, this mode judges whether the movementspeed of the slide door 2 by the manual operation is higher than thedoor rapid closing speed of the slide door 2 or not (Step 319). Next, ifit is lower than the door rapid closing speed of the slide door 2, thedoor movement speed is lower than the manual recognition speed (Step320). If it is not lower than the manual recognition speed, the clutchoperable condition is set (Step 322), the operation count G is clearedin order to count the door operation time after an operation of the theelectromagnetic clutch 16 (Step 323), and the manual ordinal start modeis released (Step 324), returning to the return step.

When the movement speed of the slide door 2 by the manual operation ishigher than the door rapid close speed (Step 319), the door rapid closeoperable condition is set (Step 321) in order to give priority to themanual door rapid close operation, an abnormal condition is set in orderto stop the motor (Step 325) and the manual ordinal start mode isreleased (Step 324), returning to the return step.

In addition, when the door movement speed is lower than the manualrecognition speed (Step 320), it is not transferred to the automaticmode, so that the abnormal condition is set (Step 325), the manualordinal start mode is released (Step 324), returning to the return step.When the abnormal condition is set, the abnormal conditions are detectedin various routine of the automatic open operation and the automaticclose operation, this operation is released becoming or obtaining a stopmode, and the motor stops.

Manual Full-Close Start Mode

FIG. 28 is a flow chart showing a manual full-close start %ode (Step312B). This manual full-close start mode detects the manual operationwhen the slide door 2 is in the full-close condition and drives theslide door 2 along its open direction in the automatic mode.

First, this mode judges by means of a phase relation of the pulse signalφ1, φ2 whether the slide door 2 moves along its open direction or not(Step 330A). When it moves along its open direction, the motor drivevoltage determined by the PWM control described later is set (Step330B), next the door open operable condition is set in order to preparefor driving the open-close drive motor 14 along its open direction (Step330C), and still the ACTR operable condition is set (Step 330D).

Next, the OFF condition of the half-switch is confirmed (Step 330E).When it is in the OFF condition, the clutch operable condition is set inorder to prepare for driving the electromagnetic clutch 16 (Step 330F),the operation count G is cleared in order to measure the door operationtime after operating the clutch operation (Step 330G), the manualfull-close start mode is released (Step 330H), returning to the returnstep.

When the slide door 2 has not moved along its open direction (Step330A), the manual full-close start mode is not necessary, so that theabnormal condition is set so as to stop the motor (Step 330I), themanual full-close start mode is released (Step 330H), it returns to thereturn step. It is afraid that the door lock has been again engagedwhile a half-switch being in the OFF condition, so abnormal condition isset (Step 330I), the manual full-close start mode is released (Step330H), returning to the return step.

Additionally, it is possible to imagine another system to start an ACTRoperation at first. According to this system, first the ACTR operatesimmediately after the door knob switch 37 a turns OFF resulting inreleasing the ACTR and so in releasing the lock with a small force.

Speed Control Routine

FIG. 29 is an outline view of the speed control routine (Steps 120,178). This speed control routine decides the control target valuerelative to the present movement speed in order to move the slide door 2at a suitable movement speed determined for every these control regionsE1 to E6, and controls the speed of moving the slide door 2. Accordingto the embodiment, the speed control of the slide door 2 is attained bychanging the duty cycle of square wave voltage impressed on theopen-close drive motor 14, or adjusting the output torque of theopen-close drive motor 14 owing to the pulse width modulation (PWM).

The PWM control(Step 331) includes a determination of the target value(Step 332), an adaptation calculation (Step 333), a feedback adjustment(Step 334). The adaptation calculation has in its lower level adifference calculation (Step 335) and the feedback adjustment has in itslower level an adjustment volume calculation (Step 336).

FIG. 30 is a block diagram showing various functions of thedetermination of the target value (Step 332), the adaptation calculation(Step 333), the difference calculation (Step 335), the adjustment volumecalculation (Step 336). In the diagram, a door position detector 60determines the position count value N and the movement direction Z usingthe pulse signals φ1, φ2 output from the rotary encoder 18.

A control region discriminator 61 a determines the areas 1 to 7 in whichthe slide door 2 exists at that time using the position count value Nand the movement direction Z. A memory table in FIG. 16 is referredaccording to the areas 1 to 7 and corresponding the control region E1 toE6 is discriminated. Thus a cycle count value T1 to T6 corresponding tothe suitable movement speed of the slide door 2 necessary in eachcontrol region E1 to E6 is determined.

The control speed selector 61 b determines a suitable speed cycle countvalue To (T1 to T6) corresponding to the suitable movement speed of thecontrol region Ei (i=1 to 6) discriminated, the maximum speed cyclecount value Tmin corresponding to the maximum movement speed in thecontrol region discriminated and the minimum speed cycle count valueTmax corresponding to the minimum movement speed. The control regiondiscriminator 61 a and the control speed selector 61 b attains thefunction of determining the target value (Step 332).

The suitable speed cycle count value To of the control region Eidetermined by the control speed selector 61 b is fed to the adjustmentvolume calculator 62 and is used in order to determine a feedbackadjustment volume R. The detail explanation will be done. The feedbackadjustment volume R determined by the adjustment volume calculator 62 issent to a maximum adjustment volume limiter 63. The adjustment volumecalculator 62 and the maximum adjustment volume limiter 63 attains thefunction of the adjustment volume calculation (Step 336).

The door movement speed detector 64, corresponding to the pulse counttimer (Step 115A), counts the clock pulse C1 every generation period ofthe interruption pulse g1 in order to determine the count value at thattime as a movement speed cycle count value Tx. A reciprocal number ofthe movement speed cycle count value Tx is a present movement speed ofthe slide door 2.

The movement speed cycle count value Tx is input into an over speeddetector 65 and a less speed detector 66. The maximum speed cycle countvalue Tmin is input in the over speed detector 65 and the minimum speedcycle count value Tmax is input in the less speed detector 66. Functionof the adaptation calculation (Step 333) is attained by the over speeddetector 65 and the less speed detector 66.

The over speed detector 65 subtracts the maximum speed cycle count valueTmin from the cycle count value Tx expressing the present movement speedof the slide door 2 through the difference counter 65 a, determining anover speed volume TH. The over speed volume TH is sent to the temporarystore portions 65 b, 65 c of two-stage shift register and the like. thetemporary store 65 c at a front stage registers an over speed volume TH2picked up in the previous pick-up time and the temporary store 65 b at arear stage register an over speed volume TH1 which is late by one timein row at the present time or the previous pick-up time. These two overspeed volume TH1, TH2 are added in a correction volume processor 65 dand the resultant is output as an over speed adaptation difference JNH.

Similarly, the less speed detector 66 subtracts the minimum speed cyclecount value Tmax from a cycle count value Tx expressing the presentmovement speed by means of the difference calculator 66 a, determining aless speed volume TL. The less speed volume is sent into temporarystores 66 b, 66 c of two-stage shift register and the like. Thetemporary store 66 c at the front stage stores a less speed volume TL2picked up in the previous pick up time and the temporary store 66 b atthe rear stage stores a less speed volume TL1 which is late by one timein row at the present time or the previous pick up time. These two lessspeed volumes TL1, TL2 are added in the correction volume processor 66 dand the resultant is output as a less speed adaptation difference JNL.Function of the difference calculation (Step 335) is attained by thedifference calculators 65 a, 66 b.

When the speed discriminator 65 e of the over speed detector 65 judgesthat the present cycle count value Tx is larger than the cycle countvalue Tmin or discriminates that the present movement speed is lowerthan the maximum speed of the slide door 2, the stored contents of thesetemporary stores 65 b, 65 c are reset to zero. Similarly, when the speeddiscriminator 66 e of the less speed detector 66 judges that the presentcycle count value Tx is smaller than a cycle count value Tmax ordiscriminates that the present movement speed is higher than the lowestspeed of the slide door 2, the stored contents of these temporary stores65 b, 65 c are reset to zero.

In short, when the present movement speed of the slide door 2 is not toohigh or not too low, the stored contents of the temporary stores aremade reset. Accordingly, it is necessary that the over speed situationor the less speed situation generates twice in a row to deliver two theover speed volumes TH1, TH2 or the less speed volumes TL1, TL2 to thecorrection volume processors 65 d, (66 d in order to prevent erroneousdetection.

The over speed adaptation difference JNH and the less speed adaptationdifference JNL are sent to a feedback adjustment portion 67 and anadjustment volume calculation 62. The adjustment volume calculator 62handles both adaptation differences JNH, JNL together as an adaptationdifference JN, selects a formula of the adjustment volume R using thesuitable speed cycle count value To obtained by the control speedselector 61 b as an identifier, determining the adjustment volume R. Forexample, when the cycle count value To is Ta, the adjustment value R isthree times of the adaptation JN, or R=3JN. Similarly, when the cyclecount value To is Tb, R=2JN. When the cycle count value To is Tc, R=JN.When the cycle count value To is not any of Ta, Tb, Tc, or R=3JN.

Sizes of values of Ta,Tb, Tc are optionally decided. Preferably, theyare decided so as to correspond with the suitable movement speed fixedin the important regions and the dangerous regions shown in FIG. 16.With reference to the magnification coefficient for calculating theadjustment volume R, its necessary number of coefficient is set so as tomake it suitable with feed-back control according to the curved portionand the straight portion of the movement or traveling trace of the slidedoor 2. The top limit value (D1) of the adjustment value R is limited bythe maximum adjustment volume limitter 63. The adjustment value R istransferred to the duty value D described later and the duty value D isinput into a feedback adjustment controller 67.

A power voltage detector 68 measures the voltage Vx of the battery 24. Aduty processor 69 determines the duty cycle Do of the necessary voltagecorrespondence Vo when the voltage Vx is generated. The duty cycle(hereinafter it is called a duty) Do corresponding to the necessaryvoltage Vo means the duty Do for obtaining the output torque attainedwhen the voltage wave shape of the duty 100%, that is DC voltage Vo isimpressed and the same output torque attained when an optional voltageVx higher than the DC voltage Vo is impressed, being expressed by thefollowing equation.

Do[%]=(Vo/Vx)*Dmax [%]

wherein, the current value flowing through the motor is fixed. The duty100% corresponds to the DC voltage wave shape of H level and is shown bythe Dmax and the duty 0% corresponds to DC voltage wave shape of L leveland is shown by Dmin.

In detail, the duty processor 69 detects a voltage change of the battery24 as a measured voltage by means of the power of the power sourcevoltage detector 68 and determines the duty Do corresponding to thenecessary voltage Vo on the basis of the equation above using thenecessary voltage Vo and the voltage Vx. Furthermore, the duty processor69 determines the duty changed value when the necessary voltage Voincreases or decreases one volt which is called an 1 V equal to duty D1.Duty Do equal or corresponding to the necessary voltage Vo and the 1volt equal to duty D1 are input in the feedback adjuster 67.

The duty processor 69 uses a primary formula which does not include thechanged part of the current and it may previously make a memory map ofthe correction value D′ of the duty D relative to the power sourcevoltage change in consideration of the current change part and the motorload characteristic, and addresses the map by the power source voltageVx.

FIG. 31 is a graph showing a relation between the voltage change and theduty D when the current flowing through the motor is fixed and the graphhas an axis of abscissa of the voltage Vx and an axis of ordinate of theduty D. Vehiclular battery 24 has a maximum voltage Vmax of 16V and aminimum voltage Vmin of 9V, and the duty is determined so as tocorrespond with the voltage change between Vmax and Vmin.

PWM Control Routine

FIG. 32 is a flow chart showing in detail the PWM control routine (Step331). This routine adjusts a duty D of the drive voltage for theopen-close drive motor 14 by means of the PWM control so as to make themovement speed of the slide door 2 agree with the target speeddetermined every area when the slide door 2 is being driven by theopen-close motor 14, and adjusts the time F by which the feedbackcontrol is done separately for every area in consideration of delay ofthe mechanical portion.

The routine first judges that there is the PWM target value or not (Step337) and determines the target value when it is not existed (Step 339),returning to the return step. The determination of the target value iscarried out by the control region discriminator 61 a and the controlspeed selector 61 b.

When the target value is already determined, the routine checks whetherthe feedback count F is the maximum number or not (Step 338). When it isnot the maximum, the count is increased. (Step 340). When it is themaximum, the step 340 is passed. The feedback count F functions as atimer and adapted to carry out the feedback control when the feedbackcount F reaches a predetermined value as described below. Maximum valueMAX is, for example, more than 10.

Next, the over speed detector 65 and the lees speed detector 66calculate an adaptation degree (Step 341) in order to detect ordetermine whether the low speed difference data or the less speed volumeTL is occurred or not (Step 342). When there is the less speed volumeTL, a low speed count L is incrementally counted (Step 343). When thereis no the less speed value TL, the low speed count L is cleared (Step344).

Next, when it is in area 3 (Step 345), the number of the feedback countF is examined whether it is more than 4 or not (Step 346). When it isnot more than 4, it returns to the return step. When it is in area 4, itreturns to the return step (Steps 345, 347). When it is not in areas 3and 4, or in areas 1, 2, 5, 6, 7, the number of the feedback count F ischecked whether it is more than 9 or not (Step 348) and it returns tothe return step when the number is not more than 9.

When the number of the feedback count F in area 3 is more than 4 (Step346) or the number is more than 9 in areas 1, 2, 5 to 7 (Step 348), thisroutine carries out the feedback adjustment described later (Step 349).When the duty has been adjusted as a result of such adjustment, thefeedback count F is cleared (Step 351), returning to the return step.When the duty has not been adjusted, it returns to the return step as itis.

It is afraid that the resultantly speed of the slide door 2 decreasesalong curved route in such as the area 3, so that the adjustmentinterval of area 3 is made shorter than that of other areas and thefeedback adjustment is done often. Consequently, when the loop cycle ofthe main routine is made 10 msec, the feedback adjustment is carried outevery 50 msec in area 3 and every 100 msec in areas 1, 2, 5 to 7.

Feedback Adjustment Routine

FIG. 33 shows a flow chart of the feedback adjustment routine (Steps334, 349) in detail. This routine adjusts duty (DUTY) so as to attainthe target speed of the slide door 2 when a plurality of the less speedvalue TL or a plurality of the over speed value TH are happenedcontinuously.

This routine first examines whether the less speed volumes TL1, TL2 areexisted or not existed in the temporary stores 66 b, 66 c of the lessspeed detector 66 (Step 352). When there is no volume, it is examinedwhether the over speed volumes TH1, TH2 are existed in the temporarystores 65 b, 65 c of the over speed detector 65 (Step 353). When theless speed volumes and the over speed volumes don't exist in thesetemporary stores, there is no need of carring out the feedbackadjustment, so an adjustment value R is cleared (Step 356), returning tothe return step.

When the over speed volumes TH1, TH2 exist in the temporary stores 65 b,65 c, these two over speed volumes are added to determine the over speedadaptation difference JNH (Step 355), the adjustment volume calculator62 and the maximum adjustment volume limitter 63 calculates theadjustment value R (Step 357). Next, it is examined that there areadjustment values in the previous routine or not (Step 358). When it isthe speed increment (Step 359), the adjustment volume R of this time isset at a half value (Step 360). The reason of this setting is that, whenthe adjustment volume is large, a possibility of becoming it again aless speed is high because that the adjustment volume was added for itis less speed in the previous time and the adjustment value issubtracted for it is over speed in this time.

When there is no adjustment volume in the previous routine, it being noincrement in speed in the previous time, and being set the adjustmentvolume R at a half value (Steps 358 to 360), respectively it isnecessary to subtract the adjustment volume R (this is a duty, too) fromthe present duty D to determine a new D NEW (Step 361), to output thisnew duty D NEW (Step 362). returning to the return step. Thus, theopen-close drive motor 14 is made decreased of the driving by means ofsquare wave voltage provided with the new duty D NEW.

When the temporary stores 66 b, 66 c have the less speed volumes TL1,TL2 (Step 352), it is examined whether the present position of the slidedoor 2 is on its open direction (areas 5 to 7) or on its close direction(areas 1 to 4) (Step 353). There is a possibility of pinching somethingin the slide door 2 along its close direction, so it is not possible tosimply increase the driving force by the feedback adjustment.

That is, when it is a close direction, this routine judges whether thelow speed counter has counted a predetermined time-lag or not (Step364A). When the predetermined time-lag has not elapsed, it returns tothe return step. When the time-lag has elapsed, this routine judgeswhether it is the initial condition having no load study or not (Step364B). When it is not the initial condition and tie study value is inthe increasing trend (Step 364C), and additionally an error is found ina pinch judgement described below (Step 364E), there is a possibility ofthe pinch, so it returns to the return step.

When the study value is not under the increasing trend (Step 364C), thecurrent value is under the increasing trend (Step 364D) and itcontinuing (Step 365), there is a possibility of the pinch, so itreturns to the return step.

In other case of that ones above, or when there is no error (Step 364E),the current value being not under the increasing trend (Step 364D), orthe increasing trend of the current value not continuing (Step 365), itis resumed that there is no possibility of the pinch and the feedbackadjustment of the speed increase drive is carried out. It is of coursethat in case of the slide door 2 in its open direction (Step 353) or inthe initial condition, the feedback adjustment of the speed incresedrive is done.

According to the feedback adjustment of the speed increase drive, firsttwo the less speed volumes TL1, TL2 are added to each other to determinethe adaptation difference JNL and it is stored in a memory (Steps 366,367), the adjustment volume R is calculated in the adjustment volumecalculator 62 and the maximum adjustment volume limiter 63 (Step 368).Next, it examines whether there is the adjustment volume R or not in theprevious routine (Step 369). When it is a speed decrease (Step 370), theadjustment value R of this time is set at a half value (Step 371). Thereason of the steps above is that there is a high possibility ofbecoming again the over speed condition because it was the over speedand the adjustment volume has subtracted in the previous time, and it isthe less speed and the adjustment volume has to be added, resulting in alarge adjustment volume.

When there is no adjustment volume in the previous routine, it was notthe speed reduction in the previous time, and the adjustment volume R isset at a half-value (Steps 369 to 371), respectively, the present duty Dis added to the adjustment volume R (this is a duty, too) to determine anew D NEW (Step 372), the new duty D NEW is output (Step 362), returningto the return step. Thus, the open-close drive motor 14 is driven toincrease the speed by a aquare wave voltage having this new duty D NEW.

Pinch Judgement Routine

FIG. 34 shows an outline of the pinch judgement routine (Steps 118,177). This routine detects a pinch of something in moving the slide door2 in its open direction or in its close direction. According to thedetection result, the slide door 2 while it is driven in its open andclose operation is reversed in order to attain a safety of the slidedoor 2.

This pinch judgement routine includes routines of a study judgementdescribed later (Step 374), a continuation & change volume (Step 375),an total judgement (Step 376). Lower levels of the study judgement (Step374) have a study address process (Step 377), an error judgement (Step378), a study weighting (Step 379), an average value calculation (Step380), a comparison value generation (Step 381), a study process (Step382), a study delay process (Step 383) and the like. The comparisonvalue generation has at its lower level a routine of a comparison valuecalculation (Step 384).

FIG. 35 is a flow chart showing a pinch judgement routine (Step 373).Respective routines which will be described in detail first judge thatthe study of the change ratio of the motor load every sampling regionhas been finished or not (Step 385). When it is not finished, its studyprocess and its study delay process are carried out (Steps 386A, 386B),returning to the return step.

When the study process has been finished, it is judged whether it is astop mode or not (Step 387). When it is a stop mode, the slide door 2has been stopped, so it returns to the return step. When it is not thestop mode, a study judgement is done (Step 388). Next, the continuous &change volume process for detecting the change volume and the risecontinuous time of the motor current value is done (Step 389). In thenext total judgement (Step 390), the judgement result obtained in thestudy judgement (Step 388), the change value and the rise continuoustime of the motor current value obtained by the continuous & changevolume process (Step 389) are used to judge whether the pinch isoccurred or not. Next, the current data is cleared (Step 391), returningto the return step.

Function Block Diagram of the Pinch Judgement

FIG. 36 is a block diagram showing functions of the pinch judgementroutine. As shown, a sampling region processor 70, a load data processor72 and a memory study data processor 75 of the sampling region pick up astandard load resistance component (its change ratio is included) due tothe open and close of the slide door 2 on the basis of the current valueIN flowing through the open-close drive motor 14, and memorize astandard load resistance component in a load sample data memory 71 ao asto correspond with a sampling region Qn (or Qn, hereinafter it is used)peculiar to the open and close situation of the slide door 2 and itsposition.

Presumably that the load resistance component memorized in a singlesampling region Qn is the current increase ratio ΔIAn between the frontand rear sampling regions on the basis of the average current value IAnof the included current value IN of the number of resolution B in thesampling region Qn.

On the opening and closing of the ordinarily slide door 2, the standardload resistance component memorized every the same sampling region Qnand the present load resistance component are compared to each other inthe pinch judgement portion 85 in order to detect whether there is thepinch condition or not. The load resistance component memorized in theload sample data memory 71 corresponding to the sampling region Qn iscorrected on the basis of the load resistance component every the openand close handling of the slide door 2, and study is renewalled.

The pinch judgement portion 85 carries out a pinch judgement on thebasis of the current value IN measured by the current measure 73, thecurrent increase value ΔI determined by the change volume calculator 87using the this time current value IN and the previous time current valueI′ N memorized in the previous time current value memory 86, an increasenumber value K which a current increase number counter 88 outputs, aninclination judgement data Q which is input from a slope detector 89.The detailed judgement operation will be explained in detail.

Sampling Region Processor 70

A sampling region processor 70 determines an address of sampling regionQn (or Qm) on the basis of a count value n (or m) calculated by thin outthe pulse signal φ1 from the position count value N and the movementdirection Z supplied from the door position detector 60 according to aresolution B fixed for the areas 1 to 7 (FIG. 16).

The count value n is determined by thinning out and count along itsclose direction of the slide door 2 according to the resolution B andthe count value m is determined by thinning out along its open directionof the slide door 2 and counting. Each values shows the address numbershowing the position of the slide door 2. The address numbers n arearranged in order along its close direction of the slide door 2, so,when the slide door 2 moves along its close direction, the numberdecreases. Consequently, the address number one previous to the movingslide door 2 is expressed by n+1. On the cotrary, the address number mis arranged in order along its open direction of the slide door 2, sothe address number one previous to that of the moving slide door 2 isexpressed by m−1.

The relation between these address numbers n and m, and the resolution Bis expressed by the following equations.

N/B=n+b

N/B=m+b (wherein, n&m is an integer portion of the quatient and b is aremainder of quatient)

The address numbers n and m are the addresses of the load sample datamemory 71, the remainder b functions to shift the data of the currentvalue memory register 74 having register of the number identical withthat of the resolution B in the load data processor 72.

Load Sample Data Memory 71

The load sample data memory 71 outputs average current values IAn, IAm,constituting the memory data of these sample regions Qn, Qm appointedwith the address numbers n, m from the sampling region processor 70, tothe forecasting comparison value processor 76 and these average currentvalues IAn, IAm to the memory study data processor 75.

Load Data Processor 72

The load data processor 72 determines the average values of the currentvalue IN of the open-close drive motor 14 every these sampling regionQn, Qm, which the current value being memorized in the current valuememory register 74 provided with steps of a number identical with thatof the resolution B, and outputs these average values to the memorystudy data processor 75 as an average current value IAn. The currentvalue memory register 74 memorizes the current value IN measured by thecurrent measure 73 every a fixed interval (Step 103).

FIG. 37 shows the average current value I′ An, I′ A(n−1) previouslymemorized in the sampling regions Qn, Qn−1 in a condition no studyeffect is considered, and the present average current values IAn,IA(n−1) determined in this time. Presuming that the slide door 2 existsin a speed reduction control region E2 (resolution B is 4) of area 2 andit shows the current value IN corresponding to the position count valueN every the pulse signal φ1 in the questioned sampling region Qn and thesampling region Qn−1 after the questioned sampling region Qn by one.

The current values IN to IN−3 in this time operation corresponding tothe position count value N to N−3 in the sampling region Qn are storedin the current value memory register 74. The average current value IAnis obtained by adding the current values IN to IN−3 to each other andaveraging them.

Memory Study Data Processor 75

This memory study data processor 75 consists of, as shown in FIG. 38, acurrent increment rate processor 81, a just before data store register82, a study data delay register 83 and a study value weighting renewalprocessor 84.

The just before data store register 82 outputs the average current valueIA(n+1), of the sampling region Qn+1 just prior to the presentlyquestioned sampling region Qn in the sampling region Qn (n will diminishgradually) appeared successively along its close direction of the slidedoor 2 (in this embodiment, area 2 is presumed), to the currentincrement rate processor 81.

This current increment rate processor 81 compares the average currentvalue IAn in the presently questioned sampling region Qn being sent fromthe load data processor 72 to the average current value IA(n+1) in thejust before sampling region Qn+1 delayed in the just before storeregister 82 in order to determine the current change rate ΔIAn(=IAn/IA(n+1)) and send this cuurent change rate to the study data delayregister 83.

The study data delay register 83 functions to a little delay a renewaltime of the study result and has a number of steps which number can beselected optionally. According to the embodiment, this step number ofthe study data delay register 83 has seven steps and outputs the currentincrement rate ΔIA(n+7) in the before seven sampling region Qn+7 to thestudy value weight renewal processor 84.

The current increment rate ΔIA(n+7) concerning the present samplingregion Qn+7 and the data Qn+7 read out of the load sample data memory 71appointed by the address number n+7 identical with that of the incrementrate ΔIA(n+7) are input in the study value weight renewal processor 84with the same address with each other.

That is, the study value weight renewal processor 84 studys and renewsthe memory data, according to the following equation and concerning thesame sampling region, of the current increment rate Qn+7 of the previoustime door drive time previously memorized in the load sample data memory71 in consideration of the newest current increment rate ΔIA(n+7)obtained in this time.

Q′ n+7=(¾)*Q′ n+7+(¼)*ΔIA(n+7)

In general equation,

Q′ n=(¾)*Q′ n+(¼)*ΔIAn

A ratio of new and old data can be optionally changed.

The memory data (current increment rate) Q′ n determined as mentionedabove is sent to the load sample data memory 71 as a write-in data DLand an address number n is stored as an address in order to renew thestudy of the memory data.

Here, the data read-out from the load sample data memory 71, or the datamemorized in the load sample data memory 71 are not expressed by anaverage current value I′ An originally stored. The data is expressed bythe address appointed sample region Qn and the processing or calculationuses the data of the average current value I′ in memorized in a locationappointed by the address number n of the sampling region Qn. The outputdata of the memory study data processor 75 has been expressed by a formof sampling region Qn.

Forecast Comparison Value Processor 76

This forecast comparison value processor 76 consists, as shown in FIG.39, of a forecast value register 77, a threshold value calculator 78, acomparison value calculator 79 and a forecast comparison value delayregister 80. This forecast comparison value processor 76 outputs to thepinch judgement portion 85 these forecast comparison values Cn, Cm,which are necessary to find a pinch in the sampling region Qn−4positioned 4 regions in advance, along the moving direction of the slidedoor 2, of the study value Q′ n corresponding to the address number n inthe present sampling region Qn output from the load sample data memory71.

The forecast value register 77 stores the last average current value IAnarithmetically averaged of the respective current values measured in asampling region from the time of measuring the first current value IN inthe present sampling region Qn of the slide door 2 to the presentcurrent value in a loop interval of the main routine.

A memory data (current increment rate:Q′ n−4′) of the sampling regionQn−4 of the address number n−4, which is four after the address number nof the sampling region Qn having the last current value IN, are read outof the load sample data memory 71 and given to the threshold valueculculator 78 and the comparison value calculator 79.

The threshold value calculator 78 uses the last average current valueIAn in the control region and the memory data in the sampling region Q′n−4 of four latter address number n−4 to calculate a threshold valueFn−4 determining the discrimination allowable width by means of thefollowing equation.

Fn−4=IAn*Q′ n−1*Q′ n−2*Q′ n−3*Q′ n−4*α

In a general formula,

Fn=IA(n+4)*Q′ n+3*Q′ n+2*Q′ n+1*Q′ n*α

wherein α is a correction coefficient.

The comparison value calculator 79 determines a forecast comparisonvalue Cn−4 to be compared with the average current value IA(n−4) of thesampling region Qn−4 appeared by means of the following equation.

Cn−4=IAn*Q′ n−1*Q′ n−2*Q′ n−3*Q′ n−4+Fn−4

In a general formula,

Cn−4=IA(n+4)*Q′ n+3*Q′ n+2*Q′ n+1*Q′ n+Fn

The forecast comaprison value Cn−4 determined by the comparison valuecalculator 79 is made identical with that corresponding to an addressnumber n of the sampling region Qn presently required by making theforecast comparison value pass through a four-stage forecast comaprisonvalue delay register 80.

In this forecast comparison value processor 76 at the first comparisonvalue generation period, the comparison value is entered into the forestage of the forecast comaprison value delay register 80. This processis repeated four times and the comparison value before four isdetermined.

That is,

Forecast value before one: Cn−1=An*Q′ n−1

Forecast value before two: Cn−2=Cn−1*Q′ n−2

Forecast value before three: Cn−3=Cn−2*Q′ n−3

Forecast value before four: Cn−4=Cn−3*Q′ n−4

Initial Operation

In the initial condition of respective blocks of a pinch judgement shownin FIG. 36, these memorized contents of the load sample data memory 71is made of a normal posture of the vehicle 1 oil a level ground of noslant of fore-back, and left-right directions. The slide door 2 of thevehicle 1 on the level ground opens and closes in order to determine theaverage current values IAn, IAm of a sample regions Qn, Qm in each area.

In this initial condition of the vehicle 1, these current change rateΔIAn, ΔIAm is determined from the ratio of the present average currentvalue to the just before current value by means of the memory study dataprocessor 75. The current change rate ΔIAn, ΔIAm pass from a study datadelay shift register 83 to the study value weight renewal processors 84,and are output as a write-in data DL of the load sample data memory 71.The address number at which the output data is memorized is appointed bythe address numbers n, m of the sample region data Qn, Qm for which theaverage current values IAn, IAm are determined and obtained in thesampling region processor 10.

Here, the relation of respective routines of the pinch judgement in FIG.34 with respective blocks of the pinch judgement shown in FIG. 36 willbe explained. The average value calculation routine (Step 380)corresponds to the load data calculator 72 and the current value memoryregister 74. A comparison value generation routine (Step 381) and acomparison value calculation routine (Step 384) correspond to theforecast comparison value calculator 76. A study process routine (Step382) and a study delay process routine (Step 383) correspond to thememory study data calculator 75. A continuation & change volume routine(Step 375) corresponds to a previous time current value memory 86, achange volume calculator 87 and a current increment number counter 88.

Study Judgement Routine

FIG. 40 is a flow chart showing in detail a study judgement routine(Step 374). This study judgement routine adds every time current valuesand carries out an error judgement and a study weighting (pinchrecognition). In addition, when the slide door 2 moves and the samplingregions are transfered to other sampling region, this routine carriesout these calculations of the average current value in this transferedregion and of the comparison values in this region, the study processand the study delay process.

A transference of the sampling regions are recognized when a pulsenumber of the travelled value of the slide door 2 is added to aremainder (remainder is obtained by dividing a position count value N bya resolution B) obtained by calculating the moving start sampling regionand the resultant exceeds the number value 8, 4, 2 of the resolution B.It is cleared every time the pulse number is added. When the samplingregion is transfered, the count value of the resolution B is subtractedand again the count starts. It is noted that an average current value isnot obtained while it is starting due to it is at a mid point of thesampling region, such addition must be started at a time of the samplingregion change over. When the sampling region next changes or transfers,it is possible to generate the average current value and the comparisonvalue, so it is also possible to carry out an error judgement everytime.

First, this routine judges whether the sampling region number has beencalculated or not (Step 392). Because no calculation has been finishedby the time of door move starting, it is calculated (Step 394). Next,this routine judges whether a study is possible or not (Step 393). Atthe first time, it is not possible to study. Next, this routine judgeswhether the position of the slide door 2 is in areas 1, 5 or 6.

When the slide door 2 exists in areas 1, 5 or 6, the cycle registernumber (moved pulse number) is added to a resolution count number(remainder of the sampling region calculation) in order to determine anew resolution count number (Step 400). Next, in order to count themoved pulse number, this routine clears the cycle register number (Step412). When the resolution count number is less than 9 (Step 413), itreturns to the return step.

After that, the cycle register number is similarly added. When itbecomes more than 8 (the sampling region is transfered), eight issubtracted from the resolution count number (Step 414) in order to judgewhether it is possible to study or not (Step 415). It is now not a studypossibility, so this routine sets the study possibility (Step 417) andclears the current value memory and the current value register number(Step 421C, 422), returning to the return step.

It will be a study possiblity in the next time (Step 393), so thepresent current value is added to a memory value (Step 395), the currentregister value number is incremented and the addition number of thecurrent value is counted (Step 396), and this routine judges whether itis possible or not to carry out the error judgement (Step 397A). When itis now not possible to carry out the error judgement, it jumps to thestep 399. The processes of steps 400-415 are carried out. It is a studypossible in this time (Step 415), so an average value calculation (Step416), a comparison value calculation (Step 418), a study process (Step419) and a study delay process (Step 420) are carried out, and an errorjudgement possibility is set (Steps 421A, 421B), returning to the returnstep.

It will be possible to carry out the error judgement from the next time(Step 397A), so the error judgement (Step 397B) described later and astudy weghting (Step 398) are carried out. Additionally, an averagevalue calculation (Step 416) to a study delay process (Step 420) arecarried out every time of exceeding the sampling region.

When the position of the slide door 2 is changed from area 1 to area 2(Steps 399, 401), this routine judges whether the resolution countnumber is more than 4 or not (Step 402). This is done because that, inthe first time after the area has been changed, it is necessary tocalculate an average value of the last sampling region of the area 1before the first time. When the resolution count number is over 4, theprocess transfers to these steps after the step 400.

When the resolution count number is not over 4, a cycle register numberis added to the resolution count number in order to determine a newresolution count number (Step 408), the cycle register number is clearedin order to count the moved pulse number (Step 409). Furthermore, whenthe resolution count number is less than 4 (Step 410), it returns to thereturn step. When the resolution count number becomes more than 3, 4 issubtracted from the resolution count number (Step 411) and it istransferred to the process after the step 415.

When the position of the slide door 2 is transferred from area 2 to area3 (Steps 399, 401), this routine judges whether the resolution countnumber is over 2 or not (Step 403). This is done because that, in thefirst time after the areas are transferred, the average value and thelike of the last sampling region of the area 2 before the first timemust be calculated. When the resolution count number is over 2, theprocess is transferred to that after the step 402.

When the resolution count number is over 2, the cycle register number isadded to the resolution count number to determine a new resolution countnumber (Step 404), the cycle register number is cleared in order tocount the moved pulse number (Step 405). Furthermore, when theresolution count number is less than 2 (Step 406), returning to thereturn step. When it becomes more than 2, two is subtracted from theresolution count number (Step 407) and it is transferred to processesthat after the step 415.

Error Judgement Routine

FIG. 41 is a flow chart showing in detail an error judgement routine(Steps 378, 397). This routine compares the present current value IN tothe forecast comparison value Cn and counts the count number having alarge current value IN as an error count number.

First the routine compares the present current value IN and the forecastcomparison value Cn (Step 424). When the current value IN is larger thanthe forecast comparison value Cn, the error count numbers are added(Step 425). When the both are identical with each other or the currentvalue IN is smaller, the error count number is cleared (Step 426). Thisis done because only when the current values IN are larger in a row, itis presumed that there is a pinch.

Study Weight Routine

FIG. 42 is a flow chart showing in detail a study weight routine(Steps,379, 398). This routine changes the weight for the error countnumber according to these areas 1-7 in order to The effectively carryout a pinch detection.

First this routine judges whether the error count number is zero or not(Step 429). When it is zero, it returns to the return step. When it isnot zero, a weighting error count number for each area is carried out.

That is, concerning the areas 1, 5-7 (Step 430), this routine judgeswhether the error count number is 3 and more than 3 or not (Step 431).In area 2 (Step 432), it judges whether the error count number is 2 andmore than 2 or not (Step 433). In area 3 and 4 (Step 434), it judgeswhether the error number is 1 and more than 1 or not (Step 435). Asdescribed above, comparing to the start area 1 along its close directionof the slide door 2 and the areas 5-7 along its open direction, areas2-4 of dangerous region along a close direction have a stricter setvalue.

Then the current value of the present control region is not in itsincrement trend according to these judgements (Step 427), or the errorcount number is larger than the set value set every area and on itsincrement trend, this routine judges that it is abnormal and permits thepinch detection (Step 435). Then the error count number is smaller thanthe set value even if the current value of the present control region ison its increment trend and the error count number is smaller than theset value, it returns to the return step.

Continuation & Change Volume Routine

FIG. 43 is a flow chart showing in detail a continuation & change volumeroutine (Steps 375, 389). This routine measures the change volume andthe rising continuation time of the current value IN in order toeffectively carry out the pinch detections.

First this routine judges whether the current value is on its incrementtrend or not (Step 436). Then it is on its increment trend, the counterfor counting the continuation time adds (Step 437). then there is nodata of the current value before any change (Step 439), the previouscurrent value is stored as a before-change current value (Step 440) inorder to subtract the before-change current value from the presentcurrent value IN, determining a change volume of the current value (Step441) and returning to the return step. Then the current value is not onits increment trend (Step 436), the counter for counting thecontinuation time is cleared (Step 438) and the before-change currentvalue is cleared (Step 442), returning to the return step.

Total Judgement Routine

FIG. 44 is a flow chart showing in detail a total judgement routine(Steps 376, 390). This total judgement routine carries out a pinchjudgement after the consideration of the study judgement, the changevolume of the current value and the increment continuation time and thelike.

First this routine judges whether the present current value is anabnormal recognition level and more than it or not (Step 443). When thepresent current value is the abnormal recognition level and more thanit, the abnormal condition is set (Step 444), returning to the returnstep. When the present current value is not the abnormal recognitionlevel and more than it (Step 443), this routine judges whether the studyjudgement permits a pinch detection or not (Step 445). When it is notpermitted, this routine returns to the return step.

In case that a pinch detection is permitted (Step 445) and acontinuation time for which time a current value increases is largerthan a set maximum value (Step 446A), the change volume of the currentvalue is more than the set maximum value (Step 446B), the continuationtime is more than the set minimum value and the change volume is morethan a set value (however, it is less than the maximum value)(Steps 447,448), this routine judges in respective cases that there is a pinch andso a pinch treated condition is set (Step 449), returning to the returnstep. The abnormal condition is set (Step 444), or a pinch treatedcondition is set (Step 449). Consequently, for example when the slidedoor 2 is atuomatically closing, the automatic close operation routineRakes the slide door 2 reversely open to the target value.

Slope Judgement Routine

FIG. 45 is a flow chart showing in detail a slope judgement routine(Step 122). This routine functions to prepare the condition for theslope judgement. According to the routine, first this routine judgeswhether the position of the slide door 2 is in areas 1, 6 or not (Step450). This is done because the slope judgement is carried out in areas1, 6 of the ordinal control regions. Accordingly, when the position ofthe slide door 2 is in another area, it returns to the return step.

When the slide door 2 is in area 1 or 6, this routine judges whether theperiod necessary to stabilize the movement of the slide door 2 has beenpassed or not (Step 451). When it passes, whether the slope judgementhas been carried out or not is judged (Step 451). When the operationtime of the slide door 2 dose not reach a stable period or when theslope judgement is carried out, it returns to the return step.

When the slope judgement has not been carried out, this routine judgeswhether a stability count is judged whether it is more than apredetermined set value or not (Step 453). Here, the stability means acondition in which a differences between the maximum value and theminimum value of the cycle count value T of continuous plural numbers(for example, four) drops into a predetermined range. When the conditionfails to become more than the predetermined set value, it returns to thereturn step.

When the stability count is more than the predetermined set value, thisroutine judges that the slide door 2 is stabilized on the level ground,so this routine judges whether the judgement standard value has beeninput or not (Step 445). While an initial period, it dose not input, soa level ground value data described later will be input (Step 457). Whenthe input has been done already, a slope inspection described later iscarried out (Step 456).

Level Ground Vlaue Data Input

FIG. 46 is a flow chart showing in detail a level ground value datainput routine (Steps 121, 457). This routine inputs the standard value(level ground standard value) used for the slope judgement and judgeswhether the cycle count value T in area 1, 6 of the slide door 2 existsin the standard cycle range or not, or whether the movement speed of theslide door 2 drops in a prdetermined range with reference to the setspeed T1 (FIG. 16) or not (Step 458). Then the movement speed does notdrop in the predetermined range, it returns to the return step.

When the slide door 2 is controlled with the target speed (Step 458),the present current value is stored as a level ground current value(Step 459), and also a drive voltage at that time is stored as the levelground drive voltage (Step 460). The drive voltage is determined by thefollwing equation,

Drive voltage=power source voltage*(Duty/250)

Wherein (Duty/250) means as a described above a duty cycle.

Slope Inspection Routine

FIG. 47 is a flow chart showing in detail a slope inspection routine(Step 456). This slope inspection routine judges whether the vehicle 1is standing on the level ground or the slope by using the previously setlevel ground standard value (level ground current value and level grounddrive voltage).

First, when the present current value is larger than a level groundcurrent value (Step 461), the slope current value of the judgementmargin is added to the level ground current value, obtaining a slopejudgement value (Step 462). Then, when the present current value islarger than the slope judgement value (Step 464), a steep slope value(larger than a slope value) of the judgement margin is added to thelevel ground current value, obtaining a steep slope judgement value(Step 465).

When the present current value is larger than the steep slope judgementvalue (Step 467) and the movement direction of the slide door 2 is alongits open direction (Step 468), this routine judges that it is a downwardslope (Step 470). When this routine judges that the movement directionis along its close direction, judging that it is an upward slope (Step473).

When the vehicle 1 stands or parks on the downward slope and themovement direction of the slide door 2 is along its open direction, orwhen the vehicle 1 stands or parks on the upward slope and the movementdirection of the slide door 2 is along its close one, it is necessary tomove the slide door against its weight, making a motor load large incomparison with a gradient of slope. Accordingly, it is possible tojudge the slope gradient by comparing the present current value with thelevel ground current value. When the present current value is less thanthe slope judgement value (Step 464), this routine judges that it is thelevel ground.

When the present current value is less than the level ground currentvalue (Step 461), the present drive voltage is determined (Step 463), aslope voltage value of the judgement margin is subtracted from the levelground drive voltage previously determined, and a slope judgementvoltage of the subtraction result is obtained (Step 474). When thepresent drive voltage is less than the slope judgement voltage (Step475), a steep slope voltage value (larger than a slope value) of thejudgement margin is subtracted from the level ground value, obtaining asteep slope judgement voltage (Step 476).

When the present drive voltage is less than the steep slope judgementvoltage (Step 477) and the movement direction of the slide door 2 is itsopen one (Step 478), a steep upward slope is determined (Step 480). Whenthe movement direction is its close direction, a steep downward slope isdetermined (Step 481). Also, in case that the present drive value islarger than the steep slope judgement voltage (Step 477), and themovement direction of the slide door 2 is its open direction (Step 479),a upward slope is determined (Step 482). When the movement direction isits close direction, a downward slope is determined (Step 483).

The reason of the steps above will be described. When the vehicle 1stands on an upward slope and the movement direction of the slide door 2is its open direction, or when it stands on a downward slope and themovement direction of the slide door 2 is its close direction, the slidedoor will move toward the target direction due to its weight. In suchsituation, the slide door 2 dangerously moves at high speed along itsopen direction or along its close direction, so the DUTY control downsthe drive voltage decreasing its moving speed. As a result, it ispossible to carry out a slope judgement by comparing the present drivevoltage with a level ground drive voltage. When the present drivevoltage is larger than the slope judgement voltage (Step 475), a levelground is determined (Step 466).

The calculation of the drive voltage (Step 463) is done as follows. Whenthe DUTY value is not 100% due to the PWN control, the drive voltage isdetermined as follows.

DUTY value/250(100%)=Drive Percentage

Battery voltage*Drive Percentage=Drive voltage

In case that the DUTY value equals 100%, the following equation isobtained.

Battery voltage=Drive voltage

According to the embodiment of the invention, the DUTY value of 100% is250.

Then the vehicle 1 stands on a downward slope or a steep downward slopeand the slide door 2 is fully opened in this slope judgement, the powerof the electro-magnetic clutch 16 in the motor drive appratus 10 isturned off and the open-close drive motor 14 cuts off the drive pulley15, resulting in a weight of the slide door 2 slides it along its closedirection.

Door Check Control

FIG. 48 is a time chart of a door check control adapted to safely carryout a door check even though the vehicle 1 stands in such situations.When the open-close drive motor 14 starts its rotation for moving theslide door 2 along its open direction at a time t1 and a clutch voltagerises from 0V to 12V as shown in FIG. 48, a transfer holding force ofthe electromagnetic clutch 16 rises and the slide door 2 is driven alongits open direction. As a result, the sliding speed (1/T) of the slidedoor 2 gradually rises. When it reaches a predetermined speed, afterthat the speed is kept.

When a door full-open switch is turned ON at the time t2 and a situationof the full-open door is detected, the open-close drive motor 14 stopsand the clutch voltage gradually decreases at each stages. In case thatthe vehicle 1 stands on a downward slope and the slide door 2 is apt toslide by its weight along its close direction, the clutch voltagedecreases and the transfer holding force between the input and theoutput of the electromagnetic clutch 16 weakens wherein the transferholding force is less than the force to start to slide the slide door 2,so that the slide door 2 starts to slide along its close direction at atime t3.

After the start of sliding the slide door 2 is detected by the cyclecount value T and the clutch voltage reaches a gradually decreasedbottom value (about 3V) at a time t4, the clutch voltage is madeincreased gradually. While a gradual increase of the clutch voltage,existence or not of movement of the slide door 2 is detected by thecycle count value T. When a stop of the moving slide door 2 along itsclose direction at a time t5 is detected, a voltage value Vs+Vc of athen voltage value Vs and a holding power generation voltage value Vc isimpressed as a clutch voltage and the voltage is kept.

Then, when a manual force stronger than the holding force due to theclutch voltage is effected toward its close direction of the slide door2 at a time t6, the manual start routine described above starts theopen-close drive motor 14, an automatic drive mode is attained,resulting in Roving the slide door 2 due to the motor drive force alongits close direction.

FIG. 49 is a time chart of a door check control according to anotherembodiment of the invention. When, similar to the control of FIG. 48,the slide door 2 starts to slide along its close direction at a time t3and a clutch voltage reaches a gradual decrease bottom value (about 3V)at a time t4, the clutch voltage is once increased and then decreased toa level a little higher than the clutch voltage Va at the time t3 of aslide detected instance. As a result, after the slide door 2 againstarts to slide along its close direction at a time t5, the clutchvoltage again increases at a time t6 at which the clutch voltage reachesthe previous slide detection voltage Va and the same voltage adjustmentis again repeated.

As a result of this adjustments (in this example, two times), when, eventhe clutch voltage is decreased to the last slide detection voltage Vbobtained at the time t5, a slide generation of the slide door 2 is notdetected after twice adjustments mentioned above, a voltage Vb+Vc whichis identical with or a little larger than the last slide detectionvoltage Vb at a time t7 is impressed as the clutch voltage and thevoltage is kept as it is.

After that, when a manual outer force stronger than the holding force ofthe clutch voltage is applied along its close direction of the slidedoor 2 at a time t8, the manual start routine starts its rotation of theopen-close drive motor 14 making the automatic drive mode and the doormoves along its close direction due to the motor drive.

Comparing these two door check controls to each other, the control shownin FIG. 48 has a merit of short control time and another control shownin FIG. 49 is able to firmly adjust the voltage.

By the way, in order to make the clutch ON, it is necessary to impress avoltage (magnetic force) complementing a gap between these clutchpaltes. Because that, when the clutch is made OFF, the clutch platesstick to each other and they are held in such condition, a voltage lowerthan that necessary to turn the clutch ON is sufficient to hold theclutch plates together concerning plate gaps and residual magneticportion.

Consequently, when the control shown in FIG. 48 is done and a slidedetection voltage is clutch-off voltage, which holding voltage is equalto the clutch-on voltage and the α voltage. The holding voltage islarger than a necessary voltage. However, the control shown in FIG. 49makes it possible to hold the clutch by means of a voltage between theclutch-on voltage and the clutch-off voltage.

The time charts shown in FIGS. 48 and 49 explain how to detect themovement of the slide door 2 on the basis of the cycle counter value T.However, the movement of the slide door 2 may be detected by detecting achange of the position count value N. When the vehicle 1 stands on thelevel ground, the voltage value Vc generating a previously determinednecessary holding force is impressed. A check control of such flat orlevel posture of the vehicle uses an impress of holding force temporaryheld condition not only in a case in which not necessary the slide door2 is full-open, but also in another case in which the slide door 2 openshalf. This fact shows that this invention can be applied not only to theslide door of vehicle, but also to the open-shut stracture generally andto the entrance doors of buildings and houses.

INDUSTRIAL USABILITY

As described above, the temporary holding device of the invention for anautomatic driven open-close structure temporarily holds the open-closestructuer, such as the entrance doors and vehicular slide doors adaptedto automatically open and close them by predetermined force,consequently is suitable to carry out an automatic open-close controlsafely and stably, which control starts with the start of movement ofthe structure.

What is claimed is:
 1. A system for temporarily holding an automaticallydriven closure, the system comprising: an open-close structure supportedmovably on a guide mechanism, an electric clutch for intermittentlyconnecting the guide mechanism to an open-close structure holdingmechanism, a clutch drive adjusting a transfer keeping force of theelectric clutch, and a control means for controlling the clutch drive sothat the clutch drive sets the transfer keeping force of the electricclutch at a level smaller than that in moving the open-close structure,in order to suitably stop and hold the open-close structure at apredetermined open degree, wherein the level is that in which a manualoperation can make the open-close structure move.
 2. The system fortemporarily holding an automatically driven closure described in claim1, wherein an open-close structure holding mechanism consists of anopen-close structure drive moving the open-close structure along itsopen-close direction.
 3. A system for temporarily holding anautomatically driven closure, the system comprising: an open-closestructure supported movably on a guide mechanism, an electric clutch forintermittently connecting the guide mechanism to an open-close structureholding mechanism, an open-close structure movement detector discerningat movement of the open-close structure, a clutch drive adjusting atransfer keeping force of the electric clutch, and a control means forcontrolling the clutch drive so that the clutch drive graduallydecreases the transfer keeping force of the electric clutch when theopen-close structure stops at a predetermined open degree, graduallyincreases the transfer keeping force in order to stop the movement ofsliding the open-close structure when the open-close structure movementdetector discerns the movement of sliding the open-close structure, andadjusts the transfer keeping force of the electric clutch to a level alittle larger than that in stopping the open-close structure bygradually decreasing the transfer keeping force, wherein the level isthat in which a manual operation can make the open-close structureslide.
 4. The system for temporarily holding an automatically drivenclosure described in claim 3, wherein an open-close structure holdingmechanism consists of an open-close structure drive moving theopen-close structure along its open-close direction.
 5. A system fortemporarily holding an automatically driven closure, the systemcomprising: an open-close structure supported movably on a guidemechanism, an electric clutch intermittently connecting the guidemechanism to an open-close structure holding mechanism, an open-closestructure movement detector discerning a movement of the open-closestructure, a clutch drive for adjusting a transfer keeping force of theelectric clutch, and a control means for controlling the clutch drive sothat the clutch drive gradually decreases the transfer keeping force ofthe electric clutch when the open-close structure stops at apredetermined open degree, once increases the transfer keeping forcewhen the open-close structure movement detector discerns the movement ofsliding the open-close structure, gradually decreases again the transferkeeping force to a level when the open-close structure movement detectordiscerns the movement of sliding the open-close structure and adjusts,when the open-close structure movement detector does not discern themovement of sliding the open-close structure, the transfer keeping forceof the electric clutch at a level similar to that or a little largerthan that in which the open-close structure movement detector discernedthe movement of sliding the open-close structure the last time.
 6. Thesystem for temporarily holding an automatically driven closure describedin claim 5, wherein an open-close structure holding mechanism consistsof an open-close structure drive moving the open-close structure alongits open-close direction.